The invention is suitable for the technical field of optical three-dimensional digital imaging and provides a fringe projection profilometry-based efficient phase position-three-dimensional mapping method. The fringe projection profilometry is on the basis of a binocular system, and the binocular system comprises a projection device and an imaging device. The method comprises the following steps: S1, protecting fringe sequence to the surface of a to-be-detected object by the projection device, acquiring a deformed fringe graph modulated by the to-be-detected object by the imaging device, and calculating according to the deformed fringe graph to obtain the phase positions of all the pixel points on the image of the imaging device; and S2, finding out a phase position-three-dimensional mapping coefficient corresponding to each pixel point from a preset phase position-three-dimensional mapping coefficient lookup table and substituting the phase position of each pixel point and the corresponding phase position-three-dimensional mapping coefficient into a phase position-three-dimensional mapping function so as to calculate the three-dimensional coordinates of an object point corresponding to each pixel point on the image of the imaging device. By the method provided by the invention, efficient three-dimensional reconstruction of fringe projection profilometry can be realized.