In order to improve the accuracy of depth measurement of UAV in outdoor scene, a laser sensor based vision depth estimation method for binocular UAV in outdoor scene is proposed. The echo signal equation is used to decompose the echo pulse signal of the UAV, and the problem of superposition echo when the laser sensor receives the echo signal is solved. Based on the principle of laser imaging in laser sensor, the echo signal of UAV is detected and imaged, which solves the problem that it is difficult to extract small target because of the coverage of adjacent target. Inverse convolution neural network is used to reconstruct the image network, and the scope of Skip is reset for seamless stitching of the extracted image features. Experimental results show that the proposed method can estimate the depth of outdoor scene with the ratio of parallax pixels above 50%, and the depth estimation is better than the contrast method.