In order to realize high-precision and fast three-dimensional (3D) shape measurement with high-frequency fringes, a method using dual-frequency heterodyne and spatial-temporal phase unwrapping is proposed. In this proposed method, only two sets of high-frequency fringe patterns are needed to project, the wrapped phase distribution of low-frequency fringe is calculated by using the dual-frequency heterodyne method, and its corresponding unwrapped natural phase can be obtained by spatial phase unwrapping manner, which will be used to guide the unwrapping process of the phase of high-frequency fringe and finally recover the absolute phase distribution required for 3D reconstruction. This method performs spatial phase unwrapping on the low-frequency wrapped phase, which reduces the difficulty and increases the application range of 3D shape measurement based on dual frequency fringe projection. The experimental results show that the STD error of this method is 0.06 mm. Therefore, this proposed method can realize high-precision and fast 3D shape measurement only using two sets of high-frequency sinusoidal fringes and without adding a third frequency fringe pattern.