The invention discloses a multi-frequency-structured-light-based three-dimensional measuring device and a method thereof. The three-dimensional measuring device mainly comprises a carrying platform, asupporting rod, a fastening support, an X-axis sliding rail, a Y-axis sliding rail, a grating projector, a camera and a collecting device for collecting an image of a measured object. In addition, the measuring method mainly includes the following steps: S11, calibrating a mechanical position of the imaging system; S12, calibrating equipment; S13, calculating internal and external parameters of the camera and the grating projector; S21, triggering the camera to collect the image; S22, carrying out phase unwrapping; S23, registering left and right projection data; and S24, performing three-dimensional reconstruction according to a point cloud. According to the invention, with a high-frame-rate DLP projector, the sinusoidal precision of the projection grating can be effectively improved andthe projection efficiency of the grating can be enhanced. Besides, the three-dimensional coordinate of the object is calculated by using the four-step phase shift and five-frequency iterative algorithm, so that the precision can be improved to be 0.005 mm.