Based on the traditional direct laser triangulation method, a single lens laser triangulation probe based on position sensitive detector was designed. A beam splitter is introduced, and the focus lens and the imaging lens are merged into one. In the spatial layout, making the beam splitter, detector and condensing lens are coaxial. The structure of the system is more compact, and the Scheimpflug condition satisfying the structure is derived. The optical system is simulated by Zemax optical design software, the focal length of the system is 20 mm, the diameter of the pupil is 4 mm, and the total length is 20.5 mm, so that the miniaturization of the measurement system can be realized. At the same time, the nonlinear correction of the position sensitive detector and the related signal processing are carried out to ensure a greater working range on the premise of higher measurement accuracy, and make the system and improve the adaptability of the system to the measurement environment. It can be widely applied to industrial real-time online detection and other fields.