In response to the issues of poor surface accuracy, excessive cutting allowances in subtractive processing, material waste, and long manufacturing times in wire arc additive manufacturing (WAAM), this paper proposes a deviation identification and removal method using a high-speed laser profiler to measure the deposited surface of the workpiece. A hybrid additive-subtractive manufacturing system based on dual robots for arc welding and milling is constructed in this study. The system employs a high-speed laser profiler for three-dimensional inspection of the deposited surface. Based on the 3D measurement data, a rapid identification and removal method for surface deviations is proposed. This method encompasses workflow design, 3D measurement, noise reduction and reconstruction of point cloud data, identification of convex and concave deviations, and path planning and programming for additive-subtractive processes to remove the identified deviations. Experimental results demonstrate that the proposed algorithm can efficiently and accurately identify the types and geometric shapes of surface deviations, providing essential basis for deviation removal, and significantly improving the forming accuracy of the arc additive-subtractive manufacturing process.