The invention belongs to the technical field of vehicle measurement and particularly relates to a two-axle vehicle centroid height static measurement method. According to the technical principle, firstly, when a vehicle axle load changes, a tire flattening radius and a suspension deform, sprung mass and unsprung mass centroid heights change, and respective variations are measured through the scoring method; secondly, the geometrical relationship between the variations is determined according to the relationships between different inclination angles and front and rear axle loads of a vehicle, the torque balancing principle and the mass balancing principle, torque extraction is conducted on contact points of front wheels of the vehicle and the ground, a torque balancing equation is built, and the whole vehicle centroid height and the sprung and unsprung mass centroid heights of the vehicle in the horizontal placement state are obtained. The suspension does not need to be fixed, people only need to measure multiple sizes to avoid tedious labor and safety accidents caused by suspension fixing, and the measurement method is simple, economical, precise and widely applicable to two-axle vehicles.