The invention belongs to the technical field of measurement, and provides a mirror-image type structured light vision measurement system, as well as a measurement method. The measurement system consists of a structured light projector 1, reflectors 2, 3 and 4, a camera 6, a bottom plate 7, a computer, an image acquisition card and a calibration plane target 8. The measurement method comprises the following steps: the structured light is projected through the structured light projector, reflected by the reflectors 2, 3 and 4, and then projected onto the surface of a measured object 5; a reflected light ray is reflected by the reflector 4 and then received by the camera 6; a formed image is acquired into the computer by the high-speed image acquisition card; the acquired image is processed so as to extract an image coordinate of the center line of the structured light; and the three-dimensional coordinate of the surface point of the object is figured out according to a measurement model. The invention adopts a principle that reflector imaging forms triangulation, reduces transverse space between the structured light projector and the camera, compresses system volume, and realizes the miniaturization of structured light vision sensors.