The present disclosure provides a three-dimensional distance measuring method and device. The three-dimensional distance measuring method includes: emitting a first light pulse to illuminate a scene, and acquiring a first image of the scene within a first exposure time; emitting a second light pulse to illuminate the scene, and acquiring a second image of the scene within a second exposure time; acquiring scene distance information of the scene based on the first image of the scene and the second image of the scene, wherein the ratio of the first pulse envelope of the first light pulse to the second pulse envelope of the second light pulse is a monotonic function of time.