The invention relates to a contact type three-dimensional tracking scanning probe. The contact type three-dimensional tracking scanning probe is composed of a motion unit, a sensing unit, a limiting unit, a signal processing unit and an installation system; the motion unit includes a probe, a lower motion plate, a lower returning mechanism, a Z-direction transmission mechanism, an X-direction transmission mechanism, a Y-direction transmission mechanism, an upper motion plate and an upper returning mechanism; the sensing unit is composed of a Z-direction linear displacement sensor, an X-direction linear displacement sensor and a Y-direction linear displacement sensor; and the center lines of the three sensors are parallel to each other, and the connection lines of the centers of the cross-sections of the three sensors form an isosceles right-angled triangle. The displacement of a ball at the tail end of the probe along an X, Y and Z direction is acquired through the three sensors and isconverted into electrical signal output through the three sensors, and therefore, simple and practical mechanical decoupling can be realized. The probe has the advantages of high space utilization rate, small size, simple structure, excellent dynamic response performance and capability of measuring the size of the contour of a large-sized complicated curved part and improving measurement accuracy.