The dual-frequency fringe projection is an important method for three-dimensional (3D) shape measurement. In the actual measurement process, how to balance the speed and accuracy has a remarkable impact on practical applications. This paper introduces a hybrid dual frequency algorithm, which needs to project four fringe images, including three high frequency fringe images and one low frequency fringe image. First, the background intensity and truncation phase of high frequency fringes are calculated based on three-step phase shift. Second, the background intensity is subtracted from the low-frequency fringes, and the low-frequency truncated phase is extracted by Hilbert transform. The low frequency truncation phase is unwrapped by the geometric constraint method, and the low frequency truncated phase is used to unwrap the high-frequency truncated phase. In order to verify the effectiveness of the proposed method, simulation and experimental studies are carried out respectively. Experimental results show that the proposed method can effectively restore the three-dimensional shape of the measured object.