The invention discloses a point cloud registration method based on shape constraint, which comprises the following steps of: loading a source point cloud and a template point cloud, selecting a to-be-matched point cloud from the source point cloud, and obtaining a feature descriptor of each point; randomly selecting a plurality of initial points from the to-be-matched point cloud, carrying out repeating for multiple times, and determining a group of initial points with the maximum graph area as a to-be-tested point set; selecting a to-be-matched point from the to-be-measured point set, and calculating distances and included angles between other points in the to-be-measured point set and the to-be-matched point; traversing each point in the template point cloud, searching a reference point, and calculating distances and included angles between other points in the template point cloud and the reference point; screening a pre-selected point set; solving a target point from each pre-selected point set; calculating a transformation matrix between the point set to be measured and the target point set, carrying out coordinate transformation, calculating distance deviation between the matching points, continuously reducing the distance deviation through iteration, and continuously carrying out fine registration on the finally obtained reference transformation matrix by utilizing the final transformation matrix. The constraint on point selection is increased, and the robustness is high.