To solve the problems of low accuracy and long time-consumption in traditional descriptor algorithms for local registration of circular holes, a three-dimensional point cloud registration algorithm for circular holes by means of constructing pseudo feature quadrilaterals is proposed. Firstly, a circular hole skeleton recognition algorithm based on diameter coefficient weighting is proposed, which introduces a vector angle threshold to achieve diameter feature coefficient weighting and extracts the circular hole skeleton points as key points. Then, a new descriptor is proposed based on the center feature, and a pseudo feature quadrilateral is constructed at the center of the circular hole to achieve rough registration of key points. Next, the ICP algorithm is used to further register the key points, and the obtained transformation matrix is applied to the local circular hole for coarse registration. Finally, ICP is used to achieve precise registration of local circular holes. The experimental results show that the registration error is reduced by more than 10.41% and the registration speed is improved by more than 54.22% with stronger robustness than the traditional algorithm.