The invention provides a visual measurement and three-dimensional reconstruction method of a model terrain in muddy water. According to the method, firstly, a video image file of the underwater model terrain is directly obtained by using a B-ultrasound instrument, and a single frame of B-ultrasound image is analyzed; then, according to the gray level and gradient features (a breakdown process exists) of terrain bright bands in the B-ultrasound image and the continuity of the model terrain in the horizontal direction, single-pixel extraction of a terrain boundary line in the single frame of the image is achieved at a time; according to the similarity of terrain lines in multiple frames of continuous images, cubic spline function interpolation is conducted, and underwater three-dimensional terrain is reconstructed. The visual measurement and three-dimensional reconstruction method is good in penetrability, high in adaptivity, suitable for underwater model terrain such as plastic sand, natural sand, pulverized coal ash and bakelite powder, high in operation speed, high in measurement accuracy, visual, efficient, rapid and capable of effectively eliminating imaging disturbance of unrelated moving suspended particles in water and reappearing underwater original terrain appearance; the single operation time is shorter than 0.1 second, and underwater terrain errors are all less than 1 millimeter after single measurement and reconstruction.