The invention discloses a fringe projection three-dimensional shape measuring method and device based on parallel four-color channels. The device comprises a computer, a visible light projector, an infrared projector, a 2CCD (charge coupled device) camera and a half-transparent and half-reflecting mirror, the computer is connected with the visible light projector, the infrared projector and the 2CCD camera, the visible light projector and the infrared projector are positioned on the same horizontal plane, the distance between the visible light projector and the half-transparent and half-reflecting mirror is as same as that between the infrared projector and the half-transparent and half-reflecting mirror, the half-transparent and half-reflecting mirror is perpendicular to the horizontal plane, and 45-degree included angles are formed between the half-transparent and half-reflecting mirror and an optical axis of the visible light projector and between the half-transparent and half-reflecting mirror and an optical axis of the infrared projector. According to the method, three fringe images of a red channel, a green channel and a blue channel are combined into a composite color image,the composite color image and an infrared image are projected, the 2CCD camera simultaneously acquires the composite color image and the infrared image, number of projected fringe images is decreased, a three-dimensional shape of an object can be acquired in a one-time measurement manner, and measurement is accelerated.