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This article proposes a novel optical method for three-dimensional (3D) angle measurement. Using a simple and compact measurement system, the 3D angle can be determined simultaneously in real time based on geometric relation transformation and autocollimation. Additionally, the crosstalk error can be avoided between the three angles. In order to enable 3D angle measurement and simplify the system, a compact combined target with transmission grating and mirror group is designed. Theoretically, the relationship between the 3D angle and the light spot displacement on the PSD (position sensitive detector) has been deduced to demonstrate the possibility of this method. Practically, the verification experiments have been carried out to verify the feasibility of this approach, and the results fit well with the theoretical analysis.