Aiming at the problem of simultaneous measurement of three-dimensional (3D) vibration of structures, a monocular vision 3D vibration measurement method based on composite feature patterns is proposed. A monocular camera is used in continuous imaging of the composite feature pattern, which is composed of the circular patterns and sinusoidal fringe patterns and pasted on the surface of the structure to be tested. Barycenter coordinates of circle pattern features are extracted by the image barycenter algorithm, which is used to calculate the two-dimensional vibration information parallel to the imaging plane. Meanwhile, the density information of sinusoidal fringes is extracted by the spectral centrobaric correction method (SCCM), which is used to calculate the vibration information perpendicular to the imaging plane, and then the 3D vibration of the structure can be measured synchronously. The effects of image noise, imaging resolution, and pattern dynamic feature extraction algorithm on measurement performance are analyzed by simulation. Experimental measurement for a cantilevered beam excited by an impulse excitation is carried out, whose results are compared with the ones obtained by Hough transform circle detection algorithm. The experimental results demonstrate that the proposed method can simultaneously measure 3D vibration information of structures with high precision.