The invention relates to an online measurement device for measuring three-dimensional contour and temperature of large forgings, comprising a high-temperature laser ranger, an infrared thermometer and a two-DOF parallel rotary scanning frame. The two-DOF parallel rotary scanning frame comprises a motion platform, hinges, an outer frame, a driving rod, a chassis, two motors and an inner frame, wherein a set of opposite sides of the motion platform is connected with the inner frame via the hinge, the inner frame is connected with one motor and installed on the chassis, the other set of opposite sides of the motion platform is connected with the outer frame via the hinge, and the outer frame is connected with the driving rod via the hinge, and the driving rod is connected with the other motor in parallel and installed on the chassis. The high-temperature laser ranger and the infrared thermometer are fixedly installed on the motion platform, the high-temperature laser ranger, the infrared thermometer and the two motors are connected with a computer via data lines, so as to realize three-dimensional scanning measurement. The invention has simple structure, can realize non-contact and long-distance measurement, and can obtain the three-dimensional contour, size and temperature information at the same time.