Circular holes are important features in automated manufacturing and assembly, and accurately estimating the pose of a hole can contribute to high-precision processes. Therefore, we propose a method for circular hole pose measurement based on epipolar constraints of binocular vision. First, to improve the accuracy of contour extraction, a contour purification method based on morphological addition is proposed. Then, the ordinate of the hole is compensated according to the epipolar constraint, and the optimal abscissa is determined via Gaussian fitting to achieve precise matching. Finally, the fitted circle in space is used to determine the hole pose. Experimental results show that the contour extracted using the method closely follows the real hole contour, and the measurement accuracy of the hole position and radius is 0.05 mm. Compared with no compensation, the measurement accuracy of the aperture and hole spacing increases by 31.56% and 34.07% after compensation, respectively. The method provides a strategy to improve the accuracy of hole pose measurement, and meets the actual application requirements of manufacturing and assembly.