Precision deep-hole parts are widely used in various fields of industrial production and their machining quality has a great impact on fatigue limit, geometric accuracy, and stability of products. Since roundness and straightness errors are essential technical indexes to evaluate the machining quality of deep-hole parts, accurate measurement and effective evaluation of them are of great significance to ensure the performance of related products. A multi-sensor integrated device that can measure two kinds of shape errors simultaneously was developed based on laser displacement sensor, two-dimensional position-sensitive detector, angle sensor, and laser distance sensor. Aiming at the problem of roundness error evaluation, the solution process of the control points of the minimum zone circle was optimized by calculating the distance between points and searching according to the polygon removal rule. Besides, the rotating projection method was used to evaluate the straightness error effectively. Eventually, the effectiveness of the measuring device and the shape error evaluation method was verified by experimental research.