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The application relates to a road sensor arrangement method suitable for vehicle-road cooperation, which comprises the following steps: constructing a road coordinate system, selecting road key nodes, and constructing a road geometric model; considering a camera coverage area, constructing a multi-objective optimization model of camera arrangement, optimizing camera installation height, angle and spacing between adjacent cameras based on an MOGWO algorithm, and determining camera position coordinates; determining sensor fixed support position coordinates and support height based on the camera position coordinates and the installation height; constructing a multi-objective optimization model of millimeter wave radar arrangement, optimizing and solving millimeter wave radar position coordinates and installation height based on the MOGWO algorithm; determining laser radar position coordinates based on the road geometric model, the sensor fixed support position coordinates and the support height, and constructing a laser radar arrangement optimization model to optimize and solve the installation height of the laser radar. Compared with the prior art, the application has the advantages of complete arrangement parameters and strong practicability.