The invention discloses a vehicular highway tunnel rapid detection system including three parts of a visual detection device, a vehicular fixing device and a vehicle speed measuring device; the visual collecting device is used for collecting a tunnel lining image and a cross section size, and comprises a supporting rod, a support seat, a connection piece, a scanner installation rod and a scanner installation bracket; the vehicular fixing device is used for installation of the visual collecting device on the top of a vehicle, and comprises an aligning platform, a rotary support, a positioning bolt, a supporting platform, a supporting seat and a supporting beam; and the vehicle speed measuring device is used for real-time collection of vehicle traveling displacement and speed data and triggering of a camera and a 3D scanner. The vehicular highway tunnel rapid detection system has strong applicability, convenient use, fast detection speed, high image collection quality and low cost and other advantages, and solves many technical problems in highway tunnel rapid detection system application.