In the field of three-dimensional contour measurement, the complementary gray code phase shift method can obtain continuous unwrapped phase. However, the measurement accuracy of a single set of phase shift fringes is easily affected by the changes in the surrounding environment, and the traditional projection method increases the introduction of interference. To solve this problem, this article proposes a complementary gray code double-N-step phase shift profilometry based on the color-coded grating projection. First, the double-N-step phase shift fringe and the complementary gray code fringe are mixed and coded into color fringe, and then projected onto the target surface in turn. Finally, the phase information is extracted from the collected color fringe, and the phase is calculated and fused to obtain the three-dimensional surface topography. To evaluate the proposed method, a comparative experiment is carried out among this method, the traditional complementary Gray code N-step phase shift method and the three-frequency heterodyne method. Experimental results show that this method can obtain high-precision surface topography information, effectively reduce the measurement error, and improve the detection efficiency by 50% .