The invention relates to the field of three-dimensional measurement, in particular to a three-dimensional scanner based on a galvanometer. The three-dimensional scanner comprises a galvanometer, a galvanometer driving circuit, a system control circuit and a camera, wherein the galvanometer is connected with the galvanometer driving circuit, receives and responds to a galvanometer driving signal sent by the galvanometer driving circuit; the galvanometer driving circuit is connected with the system control circuit, receives and responds to a galvanometer control signal sent by the system control circuit; the camera is connected with the system control circuit, receives and responds to an external triggering signal sent by the system control circuit; and the system control circuit receives an external control command. The three-dimensional scanner based on the galvanometer provided by the invention has the advantages of small size, low cost and low power consumption, and can effectively complete multi-frame structured optical mode projection and synchronous photographing.