A three-dimensional vertical surface measurement method based on phase-shifting and focal-switching method is proposed. When the projector scans the depth information of the measured object, the three-frame fringe patterns in the three-step phase-shifting method will be projected to the surface of the measured object as a continuous loop, and the corresponding fringe patterns are collected synchronously by the camera. When calculating the modulation distribution of the fringe pattern for each focal length value of the projector, the modulation distribution at the focal length position is approximately calculated by using the three-frame fringe patterns of the focal length position and its adjacent position before and after the focal length value, and the three-dimensional shape of the measured object is reconstructed according to the relationship between the maximum modulation value and the depth information. Experimental results show that the amount of fringe projection and data collection of the proposed method is only one third of that of the the traditional three-step phase-shifting method, but the measurement accuracy is almost the same as that of the traditional three-step phase-shifting method. In the depth range of 1100 μm, the average root-mean-square error for the inclined plane with different poses can reach 4.98 μm by using phase-shifting and focal-switching method.