An articulated laser sensor is a new kind of trans-scale and non-contact 3D coordinate metrological instrument. In order to achieve precise measurement, the system parameters should be calibrated with high-accuracy, especially the spatial pose of laser beam. A calibration method for the spatial pose of laser beam based on the combination of planar target and spherical target is proposed in this paper. The 3D coordinate of laser spots can be obtained by establishing matrix relation between the pixel coordinate system and the world coordinate system. Then the spatial pose of laser beam can be determined by linear fitting, and the spatial poses of rotation axes can be obtained by minimum-zone circle fitting. The experimental results show that the maximum distance measuring error is about 0.05 mm in the measuring range of 1 m, and the novel calibration method is precise and effective.