Abstract: A simple and practical method for MMS laser scanner calibration with hybrid regular geometric surfaces was proposed. The method utilized the plane and cylindrical objects which were ubiquitous in the real environment, and combined the geometric characteristics of the plane and cylindrical surface to constrain the laser point in a rigorous mathematical equation, and non-linear least square solution to determine the relative position and attitude parameters of the scanner relative to the MMS positioning and attitude measuring device POS accurately. The method did not need to establish a special calibration site. The experimental results show that the hybrid regular geometric surface combined constraint calibration method is more accurate than the method using only plane objects, reaching 0.006 m. After the same vehicle platform and two different laser scanner systems are calibrated, the point cloud superposition effect is better. The method is accurate, simple, fast, inexpensive, efficient and practical. The measured accuracy meets the requirements of large-scale production.