The invention belongs to the technical field of three-dimensional point cloud data processing and three-dimensional scene reconstruction, A multi-channel three-dimensional color point cloud registration method based on geometry comprises the following steps: (1) acquiring three-dimensional color point cloud data, (2) extracting point cloud data, (3) performing point cloud shape classification, (4)performing point data registration, (5) linear point data registration, (6) performing planar point data registration, (7) performing point cloud data registration, and (8) performing three-dimensional color point cloud data registration. As that covariance matrix is constructed, the geometrical features of three-dimensional point cloud data are calculated accurately, extracting point points frompoint cloud data, Linear points and planar points are three kinds of feature point sets, and the three kinds of feature point sets are used to complete the registration of three-dimensional color point cloud, thus effectively solving the problem that the registration time is too long due to the large amount of data of three-dimensional color point cloud, and greatly improving the registration efficiency and accuracy of three-dimensional color point cloud.