The invention provides a portable goaf three-dimensional laser scanning and measuring device, which comprises a scanning unit, an embedded control unit, a power supply box and a PDA, wherein the scanning unit is composed of a radial motor, an axial motor and a motion control unit, and the radial motor and the axial motor are driven to rotate through the motion control unit; signal output ends of the radial motor and the axial motor are connected with a control signal input end of the motion control unit, a ranging signal output end of a laser ranging sensor is connected with a ranging signal input end of the embedded control unit, a dip angle signal output end of a dip angle sensor is connected with a dip angle signal input end of the embedded control unit, and a control signal output end of the embedded control unit is connected with a control signal input end of the motion control unit. A protective shell is fixedly connected with a base, and the base is provided with an aviation plug and a fixed switching unit. The portable goaf three-dimensional laser scanning and measuring device has the characteristics of small size and light weight, and provides a good solution for three-dimensional configuration measurement of a mine goaf.