The invention discloses a machine vision-based ship hull six-degree-of-freedom measurement method. The method includes the following steps that: a RGB three-color marker is posted on a target ship, when the hull of the ship moves, the marker moves with the hull of the ship, two cameras are mounted at different positions, and the angles of the cameras are adjusted, so that the shooting range of the cameras can cover the movement range of the marker, and the cameras carry out image acquisition; images acquired by the cameras are preprocessed, and a RGB color occupancy volume-based segmentation algorithm is adopted to perform image segmentation operation, so that boundary parameters can be obtained, qualified feature points are made to be contained in a boundary range; and a binocular three-dimensional reconstruction method is adopted to obtain the three-dimensional coordinate values of the feature points; and the six degrees of freedom of the hull of the ship are decomposed, and the three-dimensional coordinates of P (x, y, z) at any one time point and the coordinates P'(x', y',z') of a next time point are known, so that a translation vector T(delta x, delta y, delta z) and a rotation vector R (alpha, beta, gamma) which are corresponding to the movement of the hull of the ship are obtained. With the machine vision-based ship hull six-degree-of-freedom measurement method of the invention adopted, real-time and non-contact measurement of six-degree-of-freedom movement of the hull of the ship in regular waves and irregular waves can be realized, and accuracy satisfies engineering requirements.