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The helix angle measurement of helical gear is difficult and the measurement process is complex. In order to improve the measurement accuracy and efficiency, the method of measuring helix angle of helical gear is proposed, by using two cameras to collect the images of the helical gear end face and side face to process. The two cameras were placed vertically and the images were captured, by obtaining the maximum inscribed circle and minimum circumscribed circle of the helical gear end face image, addendum circle diameter, reference circle diameter and other parameters were measured. Corner detection was performed on the side image, the helix angle of the addendum circle was measured, and the helix angle of the helical gear was calculated according to the relationship between the helix angle of the addendum circle and the helix angle of the reference circle. The experimental results show that the average relative error of this method is 0.65%, which is smaller than the average relative error of manual measurement of 1.33%, and smaller than the average relative error of single camera method of 0.8%, and the measurement time is 4.58 s, which is smaller than the other two measurement methods.