In the 3D measurement of gear, the position and attitude calibration of sensors directly affects the accuracy of measurement results. In this article, a position and attitude calibration method of the linear laser sensor is proposed, which is based on feature standard parts. And a standard part with certain geometric features is designed. This method decouples the position and attitude relationship between the sensor and the instrument. Through the geometric relationship between the sensor and the standard part during the movement, the three attitude angles of the sensor are calculated and adjusted to the calibrated zero position. Then, the offset distances of the three positions of the sensor are calculated through calculating equal region mean by multiple offsets. The verification experiment is implemented on the gear measuring center. After multiple calibration, the dynamic measurement repeatability of the tooth profile deviation of the measured gear is 3. 94 μm. The evaluation standard deviation is less than 0. 3 μm. The evaluation results are consistent with the traditional contact measurement results, which show that the position and attitude calibration method of linear laser sensor based on feature standard parts has good repeatability and accuracy for the 3D gear measurement.