The invention discloses a color three-dimensional profile measuring device and method based on a Dammann grating. According to the color three-dimensional profile measuring device, the Dammann grating is adopted as a core optical component, a laser beam emitted by an infrared laser is split into a regular laser spot array, and the measurement is performed by using the laser spot array as a protection structure. Two black and white digital cameras with narrow band-pass filters are used for shooting a laser dot matrix to reconstruct a three-dimensional profile of an object to be tested, and one color digital camera with an infrared cut-off filter is used for recording true color information of the object to be tested. The color three-dimensional profile measuring device has the advantages of small volume, low cost, high measurement speed and the like, and is expected to be widely applied to fields such as three-dimensional modeling, object identification, object tracking, action capturing, and human-computer interaction.