The invention belongs to the technical field of three-dimensional measurement, and discloses a sensor measurement viewpoint planning method in automatic three-dimensional measurement of surface structured light. The method comprises the steps of: (a), packaging a three-dimensional structural model of an object to be measured by adopting multiple cube volume blocks; (b), constructing six semi-spheres and candidate measurement viewpoints in each volume block; (c), intersecting the single volume block with the three-dimensional structural model to obtain multiple spline surfaces, and solving thecentral point, the average normal vector and the area of each spline surface; (d), calculating the zenith angle and the azimuth angle of the average normal vector of each spline surface in the singlevolume block in a three-dimensional coordinate system, and determining an area, which each spline surface belongs to; (e), calculating measurement quality parameters of the candidate measurement viewpoints; and (f), comparing the quality parameter of each candidate measurement viewpoint with the pre-set threshold value, so that the required measurement viewpoint is obtained. By means of the sensormeasurement viewpoint planning method in automatic three-dimensional measurement of surface structured light in the invention, the calculation process is simple; the automation degree is high; and the sensor measurement viewpoint planning method is suitable for planning measurement viewpoints of complex parts.