The invention discloses a high-resolution high-speed laser three-dimensional imaging system. The system comprises a laser (1), a grating (2), a scanning device (3), an angle amplifying lens (4), a receiving lens (5), a detector (6), a signal processor (7) and a scanning device driver (8), wherein the laser and the grating form a light source; the scanning device, the scanning device driver and theangle amplifying lens form an optical scanning system, so that the linear array point array laser scans a target area in a preset track; the receiving lens, the detector and the signal processor forman optical receiving system to receive echo light reflected by a target end to form a three-dimensional point cloud image of the target area. The system has the advantages of high dynamic, high resolution, low cost, low power consumption, miniaturization and the like, and overcomes the contradiction that the scanning speed of the traditional three-dimensional imaging system and the aperture of the receiving optical system as well as the image resolution and the image frame rate cannot be harmonized.