The present invention discloses a camera self-calibration method based on two vanishing points. With two groups of orthogonal parallel lines as self-calibration patterns, four and more sequence images of different viewing points are obtained, a Harris-based sub-pixel angle detection method is used to extract four intersections of self-calibration patterns in each image, and the image coordinates of the two vanishing points are calculated. According to a projection geometry characteristic that a light center is perpendicular to the connection line of the two vanishing points, the constraint equations of camera intrinsic parameters are listed, and the intrinsic parameters such as a image plane main point coordinate (u0, v0) and normalized focal lengths fx and fy are obtained. According to the method, a calibration plate and a calibration block are not needed, the acquisition of camera motion information and the world coordinate information of the self-calibration patterns are not needed, the calibration process is convenient, a shooting requirement is not high, the algorithm is simple and efficient, and large visual field, zoom and remote vision detection applications can be satisfied. The calibration precision is better than the precision of a three-vanishing-point self-calibration method, and the calibration of high precision can be completed by using a low-resolution camera.