To provide a device and method for measuring a three-dimensional shape capable of accurately eliminating noise effect in order to contribute improving the accuracy in measuring three-dimensional shape.

The three-dimensional shape measuring method includes a vector computing step obtaining a measurement point motion vector v from a three-dimensional coordinate of any first measurement point (a) and a three-dimensional coordinate of a second measurement point (b) acquired next to the first measurement point (a) by a computing section 4 and a noise determination step determining whether the second measurement point (b) is a noise by the computing section 4 depending on whether the angle of the measurement point motion vector v corresponds to a predetermined range capable of continuously receiving light (12).