To overcome the limitation of traditional stereo-vision position and pose measurement methods that the number and locations of calculation points must be determined in advance, this paper proposes a method to measure the positions and poses of spatial objects based on three-dimensional digital image correlation (3D-DIC). In this method, full-field coordinates of the measured object at different moments are obtained by 3D-DIC. According to the coordinates of corresponding calculation points extracted, position and pose parameters of the spatial object are solved via space vectors. The number and locations of calculation points can be selected flexibly in this method, and a criterion of the optimal ratio of the number of calculation points (ORNCP) is also proposed accordingly. Multiple position and pose parameters of mask samples with complex morphological characteristics are measured on a displacement and rotation platform as well as a 6 degree-of-freedom (DOF) platform, respectively, for experimental verification. The experimental results demonstrate that position and pose measurement precision is the highest when the number of calculation points meets the ORNCP criterion. Meanwhile, the positions of calculation points have little influence on experimental results, and the measurement errors in the case of the 6 DOF platform are within the tolerance range. The proposed 3D-DIC position and pose measurement method can be used to measure multiple position and pose parameters of a spatial object within a small error range.