In order to solve such problems as synchronization, high cost and others in traditional binocular fringe structured light 3D reconstruction, a virtual binocular fringe structured light 3D reconstruction method based on a single camera is proposed. The virtual binocular fringe structured light 3D reconstruction system with binocular vision is designed using a single camera, two biprisms and one projector. Biprism refraction and light splitting are used to change the path of reflected light on the surface of the measured object, by which the goal of acquisition of multi-view images are attained under single camera. Through the multi-frequency heterodyne method, stereo matching and binocular calibration of virtual binocular, the depth information of the measured object is obtained and the point cloud is reconstructed. Experimental results show that the root mean square error of the proposed method and the real binocular structured light method to measure the standard ball are 0.037 9 mm and 0.030 5 mm respectively. The proposed method in this paper can promote the development of binocular fringe structured light technology in the aspects of rapidity, low cost, miniaturization, etc. At the same time, this method can be extended to the color camera based fringe structured light 3D reconstruction and projection speckle structured light 3D reconstruction.