The precise measurement of inner dimensions and contour accuracy is required for deep-hole parts, particularly during the manufacturing process, to monitor quality and obtain real-time error parameters. However, on-machine measurement is challenging due to the limited inner space of deep holes. This study proposes an automatic on-machine measuring apparatus for assessing inner diameter, straightness, and roundness errors. Based on the axial-section measurement principle, an integrated measuring module was designed, including a self-centering mechanism, a diameter measuring sensor, and a positioning reference sensor, all embedded within a control system. On this basis, calculations of the inner diameter, and evaluations of the straightness and roundness errors are presented. Experimental verification is conducted on a blind deep hole with a nominal 100 mm inner diameter and 700 mm depth. Compared with measurements performed on a coordinate measuring machine (CMM), which is limited to a maximum hole depth of 300 mm, the proposed apparatus achieved full-depth on-machine measurements. Meanwhile, the measurement results were consistent with the data obtained by the CMM. The straightness error is considered less than 0.05 mm, and the roundness error is considered less than 0.015 mm. Ultimately, without requiring any additional reference platform, the proposed apparatus shows promise for measuring deep-hole parts on various machine tools, with diameters of no less than 80 mm and theoretically unlimited hole depth.