In order to improve the efficiency and adaptability of 3-D laser sensor measurement system, this paper proposed a calibration method based on structural parameters for the 3-D laser sensor measurement system. In this method, by scanning and measuring the structural calibration target with known structural parameters, the models are established in the laser scanning coordinate system and inertial measurement sensor coordinate system respectively, and the linear features are extracted then solve out the relative position and attitude by the constrains of structural parameters. The calibration results are carried out on the 3-D measurement system, which is used to conduct a simulation measurement experiment. In the experiment, the measured results’ relative errors of lengths and angles of measured objects are less than 1.0 and 0.5 % on average, which indicate the accuracy of the calibration method. While the noise is increasing, the relative errors keep stability, which indicates the effectiveness of the calibration method.