Provided is an image acquisition apparatus based on an industrial digital camera matrix, comprising a first substrate and a second substrate arranged in parallel. The first substrate is provided with a lens matrix, and axes of various lenses in the lens matrix are respectively perpendicular to a plane where the first substrate is located; and a surface, towards the first substrate, of the second substrate is provided with a photosensitive element matrix, and various photosensitive elements in the photosensitive element matrix are arranged in one-to-one correspondence with the various lenses. The image acquisition apparatus based on an industrial digital camera matrix in the present invention can guarantee the precision and accuracy of a post-processed three-dimensional stereoscopic image, can improve a measurement range and a integration level of a camera, and can facilitate processing and manufacturing, so that the apparatus becomes a set of integrated and miniaturized three-dimensional image front-end acquisition apparatuses.