In this paper, a novel method for hulls three-dimensional angle measurement is presented. For the measurement of the transverse twist angle, a method based on moiré fringe is proposed, for the lengthways flexibility and course flexibility angle the conventional optical sensor method is applied. The principle of the measurement is discussed in detail. To verify the accuracy of the proposed method, both static and dynamic experiments are carried out. Results show that in the static states, the accuracy for them are smaller than 5'', in the dynamic states, the accuracy for them are smaller than 10''.