The invention relates to the technical field of engineering measurement, in particular to a mobile three-dimensional laser scanner based on a laser radar and a panoramic camera, comprising a three-dimensional laser scanner body, a base, a tripod and a lithium battery. The three-dimensional laser scanner body is rotatably mounted on the base. The upper end of the seat and the bottom end of the base are fixed with a tripod, and the body of the 3D laser scanner is powered by a lithium battery; the body of the 3D laser scanner includes a chassis, a lidar, a filter, a first speed sensor, a first motor, a panoramic camera, Time counter and central processing unit; the upper surface of the base is rotatably installed with a turntable, the lower surface of the turntable is fixed with a ring-shaped rack, the upper surface of the base is also provided with a rectangular groove, and the interior of the rectangular groove is installed with a second motor and a second motor Speed sensor; the invention can improve the scanning speed, save the scanning time, and can adjust the horizontal rotation speed at the same time to realize back and forth scanning in the same vertical plane.