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. 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 is set and recorded. Then longitudinally copying (Step S2) and laterally copying (Step S3) block data is longitudinally and laterally copied after entering the size and basic shape type of the work. Then the shape of the work is measured on the basis of the copied block data.