The invention relates to a double-field variable-focus three-dimensional measurement system. The system comprises a primary-secondary mirror imaging measuring system, a two-dimensional tracking rotating-mirror device and an adaptive control system. The primary-secondary mirror imaging measuring system is composed of a telephoto subsystem, a short-focus subsystem and a launching light source. The telephoto is composed of a main lens, a first spectroscope, a second spectroscope and a detector. The short-focus system is composed of the main lens, the first spectroscope, the second spectroscope and the detector. The two-dimensional tracking rotating-mirror device is composed of a reflector, a electric rotating motor, a regulating handle, an upper half shaft, a lower half shaft and a horizontal shaft. The adaptive control system is composed of a computer, an input and output (I/O) control circuit, an electromotor and a signal processing and controlling circuit. The system has the advantages of being tight in arrangement, high in measuring efficiency, convenient to measure and is suitable for the three-dimensional measuring of moving and static objects.