The high-precision measurement of hemispherical resonator vibration performance parameters has been an obstacle limiting the development of high-precision development of Hemispherical Resonator Gyro (HRG). In this paper, a laserbased contactless testing method for the hemispherical resonator vibration performance parameter is proposed to solve the problem of low efficiency and accuracy in the current hemispherical resonator vibration performance parameter testing method. A hemispherical resonator laser vibration measurement system is constructed, and a high-precision identification method of hemispherical resonator vibration performance parameters based on envelope analysis is proposed. Simulation and experimental results show that the free-decaying vibration signals of the hemispherical resonator can be accurately obtained by laser contactless measurement, and the vibration parameters, such as inherent frequency, frequency-split, quality-factor, as well as modal azimuthal angle of the hemispherical resonator could be identified in one-time test by fitting the obtained vibration signals with proposed nonlinear optimization identification method.