A three-dimensional image-capturing device comprises R, G, and B light sources, a CCD, a light-source control processor, a CCD drive circuit, and a distance-information sensing processor. Each of the RGB light sources radiates pulse modulated R, G, and B distance-measurement light beams to a measurement subject. The R, G, and B color filtered pixels of the CCD senses RGB light beams. The RGB light sources are controlled to emit the B, G, and R distance-measurement light beams successively and continuously. The CCD drive circuit controls the CCD to accumulate electric charges of the reflected light beams in a predetermined accumulation period, so that the at least one of RGB distance-measurement light beams is sensed by the CCD. The distance-information sensing processor calculates distance information of the measurement subject by using electric charges accumulated in RGB pixels which are adjacently arranged.