The invention discloses a three-dimensional shape measuring system of fringe projection based on a sine phase modulation four-step integral, and relates to the field of three-dimensional shape measuring. The method includes the steps that an optical fiber interference fringe projection mathematical model is built; a phase error compensation system extracts phase drift amount caused by environment factors, and phase compensation voltage is generated and is injected into a dual-channel piezoelectric ceramic driver; a sine phase modulation signal is directly injected into the dual-channel piezoelectric ceramic driver to achieve sine modulation of a fringe phase, injected into the phase error compensation system to serve as a phase generation carrier and injected into a CCD time sequence controller to serve as a reference signal of the CCD time sequence controller, a time sequence generated by the CCD time sequence controller controls a planar array CCD camera to collect a fringe image on the surface of an object to be measured, the image is uploaded to an image processing and shape restoring system, and finally surface shape reconstruction of the object is achieved. The method meets the technical requirements for non-contact, full view, quickness, high precision and the like of multiple application fields.