The invention discloses a height measurement method and device of a highway height permitted frame for a vehicle based on binocular vision. Two wide-angle cameras and a binocular vision system are used for shooting, tracking and locating a height permitted beam target in real time, the binocular vision system is used for measuring the distance from the vehicle to the height permitted frame and therelative height of a vehicle roof in real time, early warning information is provided for drivers, driving and road traffic safety are ensured, a space geometry relation is used for calculating the height of a road frame and the distance between the vehicle and the road frame, the height measurement method and device have the advantages of being high in computing speed and less in calculation resource consumption, the real-time requirements of vehicle safety early warning are effectively met, a limit constraint binocular correction method is adopted to reduce the matching search space, two-dimensional search is reduced to one-dimensional search, the advantage of high matching speed is realized, a checkerboard calibration method is adopted, the internal parameters of the camera can be obtained effectively, and the accuracy of image depth data calculation can be ensured.