In order to measure the object with colorful surface whose surface color may interfere with the color distinguish of projected fringe pattern, a novel method based on complementary color-encoded fringe projection is proposed. Two fringe patterns are projected onto the object in sequence. The first frame is encoded in a hybrid way which is with the sinusoidal color fringe and with the color coding information. The second frame is other color fringe pattern whose color is the previous encoding color′s complementary one in each according pixel. Based on the color complementary feature of the two patterns, the color information of each pixel in the captured color-encoded sinusoidal fringe image can be established with the assistance of the complementary color pattern, so that the interference of object′s color can be eliminated. Phase retrieval is done by the Fourier transform method applied to the sinusoidal fringe and unwrapped according to the color coding information. Experimental results show that the proposed technique is valid and can be applied to the measurement of colorful object.