The invention provides a portable three-dimensional visual photoacoustic imaging system, which comprises a central processing unit, a driving circuit, a data acquisition circuit, a signal amplification circuit, a signal pre-processing circuit, an ultrasonic sensor, an external circuit interface, laser diodes, a collimating lens group, a beam expanding lens group, a focusing lens group, an X-axis reflecting galvanometer, a Y-axis reflecting galvanometer, a field lens, a linear motor, an X-axis motor, a Y-axis motor and a shell. Fast and efficient three-axis scanning galvanometer technology is applied to the field of photoacoustic stimulation. The portable three-dimensional visual photoacoustic imaging system is integrated with the laser diodes, so that portable three-dimensional visual photoacoustic imaging can be realized. Besides, the portable three-dimensional visual photoacoustic imaging system can be widely applied to the field of material detection, industrial flaw detection, medical imaging and the like of complex structures such as square structures, tubular structure, film type structures and the like.