Line-scan cameras are promising sensors for in-motion three-dimensional (3-D) reconstruction. For practical industrial applications, it’s necessary to realize complete and accurate reconstruction in a single scan with uncontrollable motion changes. However, line-scan camera systems still have difficulty meeting the demand, even with the favorable side-by-side setup. In this paper, we make changes by slightly separating the viewing planes of the side-by-side coplanar line-scan cameras, and propose a structured-light non-coplanar dual line-scan camera system. Based on the new setup, effective methods are put forward for shape measurement, matching, motion estimation and point cloud stitching, and the proposed system can reconstruct complete and accurate point clouds in the case of evident motion changes. Experimental results prove the performance and advantages of the proposed system. Being independent of strict motion conditions, the proposed system can be applied to various industrial scenes such as inline quality inspection on a conveyor belt, defect detection of a moving vehicle, and tunnel inspection on a mobile carrier.