The invention discloses a linear laser three-dimensional measuring device calibration and error compensation method which includes the following steps: acquiring multiple sets of arc data of the surface of a target ball scanned by a linear laser scanner and the linear motion distance of each set of arcs relative to an initial arc; getting a plurality of centers through fitting according to the multiple sets of arc data; calculating the unit direction vectors of the connecting lines between the center corresponding to the initial arc and the other centers; averaging the unit direction vectors to get a linear motion direction vector as a calibration result; and making compensation for the measurement error of a laser three-dimensional measuring device according to the calibration result. Themeasurement error of the three-dimensional measuring device caused by parts manufacture and installation error is reduced, and the accuracy of the measurement result is improved. Moreover, the calibration and error compensation method is simple, and is suitable for calibration and measurement in a processing site.