The invention provides an underwater environment three-dimensional reconstruction method based on binocular vision, and the method comprises the following steps: 1, collecting and obtaining an underwater image, carrying out the underwater calibration of a binocular camera, and obtaining the needed related parameters of the binocular camera; 2, preprocessing the collected underwater image, including image denoising, image enhancement, image sharpening, image restoration and underwater image defogging; 3, performing feature detection on the preprocessed binocular image in the step 2, and performing stereo matching by using an improved Census and NCC fused stereo matching algorithm to obtain a disparity map containing depth information; and 4, performing three-dimensional reconstruction on the disparity map in the step 3 by using a PCL three-dimensional reconstruction method introducing a moving least square method, and restoring an underwater three-dimensional environment in the image. The invention introduces the moving least square method to solve the problems of point cloud discretization and point cloud vulnerability, thus visually reflecting a three-dimensional effect by a processing effect from multiple angles, and restoring the underwater three-dimensional environment.