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This invention discloses an intelligent shoulder joint range of motion measurement system and method based on multi-sensor fusion, comprising a hardware measurement unit and a smart terminal communicatively connected thereto. The hardware measurement unit includes: a trunk sensor module for fixing to the user's trunk to acquire trunk posture data; an upper arm sensor module for fixing to the upper arm on the same side as the shoulder being measured to acquire upper arm posture data; and a data processing and communication module electrically connected to the trunk sensor module and the upper arm sensor module, respectively, for receiving and processing the trunk posture data and the upper arm posture data, calculating the spatial relative posture angle of the upper arm relative to the trunk, and wirelessly transmitting the spatial relative posture angle to the smart terminal. This invention addresses the long-standing pain points of traditional goniometers in clinical practice, such as strong subjectivity, cumbersome operation, and inability to record dynamic processes.