The invention relates to the technical field of photoelectric detection, and relates to a pipeline inner wall morphology and center axis straightness measuring device and method which can measure the pipeline inner wall 3D morphology and the center axis straightness simultaneously, output and display a result and acquire accurate pipeline inner wall morphology data, thereby accurately restoring the pipeline inner wall morphology, and improving the measurement accuracy of the pipeline inner wall morphology and the center axis straightness. The pipeline inner wall morphology and center axis straightness measuring device and method provided by the invention are implemented by the aid of a pre-conditioning device, a laser scanning module, a position and posture detection module and a driving module, wherein the laser scanning module and the position and posture detection module are in rigid connection, the relative positions are determined, a moderate expansion device is arranged, the two modules form a system detection device which is driven by a crawler to crawl continuously in a contact manner along the pipeline inner wall, and the laser scanning module is composed of a laser probe and a rotating motor; the position and posture detection module is composed of a pipe mouth laser group, a posture detector group and a stay wire displacement sensor; and the driving module comprises a crawler. The pipeline inner wall morphology and center axis straightness measuring device and method mainly applied to occasions of pipeline photoelectric detection.