In this paper, a measurement method based on multi base station laser tracker is proposed to meet the requirements of robot end-pose precision test. This method adopts the three-target measurement scheme, solves the transfer station parameters through the nonlinear least square method, and fuses the multi base station test data to realize the testing of the robots’ end pose accuracy. The measuring effect of this method is verified by experiments with linear guide rail and standard apparatus of turntable. The results show that the measurement positioning accuracy of this method is improved by 38.5% and repetitive positioning accuracy is improved by 42.2% compared with that of the single base station laser tracker. In addition, the multi base station measurement scheme is applied to test the IRB14000 robot and the measurement results of robot pose accuracy are obtained according to the national standard GB/T 12642: Industrial robots-Performance criteria and related test methods, which proved the feasibility of the method.