Phase-shifting profilometry (PSP) is a well-established technique for the accurate measurement of three-dimensional (3D) shapes. Nonetheless, it faces a significant challenge when the object under study experiences motion, as this can alter the phase-shifts between adjacent fringes, introducing periodic errors known as motion-induced errors. A three-dimensional measurement method for moving objects based on color stripe projection is proposed to address the above issues. This method encodes cosine and sine fringes into the red and blue channels of color images, respectively. Then, a phase shift algorithm is used to extract two phase maps with reverse motion errors from the two color channels. Finally, the average phase map is calculated to compensate for periodic motion errors, and the impact of color crosstalk on this method is further analyzed. Both simulation and real experimental results show that the proposed method can effectively suppress motion errors, achieve accurate three-dimensional measurement of moving objects, and is less affected by color crosstalk.