Infrared thermography determines the surface temperature of an object or human body. It is a promising imaging technology for medical and biological observations due to its contactless and completely noninvasive properties. However, traditional two-dimensional (2D) infrared thermography cannot retain the spatial information, and thus provides only qualitative diagnosis information. A novel real-time three-dimensional (3D) infrared imaging system which takes full advantages of high-speed, high-quality, high-sensitivity, and low-cost in 3D thermograph is presented. We demonstrate the real-time 3D thermal imaging at the speed of 24 frames per second (fps), with resolution of 640 \times 480 points. Experimental results demonstrate quantitatively measurement of temperature distribution of 3D surfaces in real-time is realized with this system.