A three-dimensional shape measuring method and a measuring apparatus thereof that allow the operation of a robot to be readily taught and set in a short time when a three-dimensional measuring device mounted on the robot is caused to move along the surface of a work, thereby measuring the shape of the work. The invention is characterized by setting and recording (Step S1) a block data representative of measurement operation that causes the three-dimensional measuring device, which is a laser scanner, to move along the surface of the work; longitudinally copying (Step S2) and laterally copying (Step S3) the block data after entering the size and basic shape type of the work; and by measuring (Step S4) the shape of the work on the basis of the copied block data.