The invention relates to the technical field of three-dimensional color point cloud data processing and three-dimensional scene reconstruction, and provides an omnidirectional three-dimensional laser color scanning system and a method thereof. The system comprises a laser scanner, a high speed camera, an electrically controlled rotary table, a conductive slip ring, an encoder, a data acquisition module, a switch, a servo drive, a computer and an equipment support. The method comprises the steps that 1, the electrically controlled rotary table is controlled to uniformly rotate; 2, hardware and software composite data are synchronized; and 3, synchronous acquisition data are fused. According to the invention, the software and hardware compound data synchronization method is used to synchronously acquire laser point cloud, a two-dimensional image and a rotation angle in real time; the synchronization precision is high; data fusion is carried out on the laser point cloud and the two-dimensional image of each synchronization moment to acquire the three-dimensional color point cloud data of a scene in real time; data acquisition is in real time; and data fusion is carried out on the two-dimensional image of each synchronization moment, which has the advantages of enormous image information and high fusion quality.