The invention discloses a high-precision free-form surface profiling measurement device and method based on a three-dimensional measurement frame. Three linear motion tables, two rotary tables and an angular displacement table are combined to form a six-axis linkage mechanism, and a high-precision displacement sensor is driven to move in six degrees of freedom in a three-dimensional space relative to a measured object, so that scanning measurement of a free-form surface with complex geometric characteristics such as high curvature and large rise is realized. In addition, the three-dimensional measurement frame is constructed through the high-precision displacement sensor, so that an error transfer chain is blocked, and various error sources such as straightness errors and positioning errors in the scanning process are compensated. The device and method are suitable for fast detection of the surface type of the free-form surface, can also be used for surface type detection of aspheric, spherical and planar elements, have the advantages of being good in universality, high in measurement speed and high in measurement precision, not only can solve the measurement problem in the current free-form surface manufacturing process, but also can meet the detection process of planar, spherical, aspheric and other optical elements.