In order to further improve the accuracy of indoor visible light three-dimensional positioning, an indoor visible light three-dimensional positioning method based on minimum triangle algorithm is proposed. In this method, the line-of-sight link model is adopted, and the positioning terminal receives the light intensity signal carrying the light-emitting diode position information. The minimum triangle algorithm and the received signal strength indication method are used to calculate the three-dimensional position information of the receiver in the room, and then the weighted centroid algorithm is introduced to reduce the impact of optical path occlusion. The simulation results show that the average positioning error of the proposed positioning method is about 4.35 cm and the average height error is about 1.65 cm in the indoor positioning area of 5 m×5 m×3 m. The positioning accuracy is better than that of the traditional indoor visible light three-dimensional positioning method.