Aiming at the inability of existing instruments to comprehensively and rapidly measure the burr height, root thickness and morphology across entire regions of holes and the incapability to automatically use measurement data to calculate the evaluation indicators of burrs, a hole burr measurement system based on 2D laser displacement sensor was developed. First, the effects of stray light caused by multiple reflection, the tilting of laser imagining plane and the hole surface to be measured on measurement accuracy were discussed, followed by the proposition of a method to eliminate stray light and tilt correction. Next, the data of sensor measurements was utilized to develop an algorithm to calculate burr height and root thickness, fulfilling the visualization of burr height and root thickness extending around the hole circumference. Finally, evaluation indicators of median least square, arithmetic mean waviness and mean square root of waviness were used to describe the quantitative evaluation method of burr height and root thickness across the whole hole region. The experimental results show that the system can not only visualize the 3D morphology and 2D fluctuation of burrs across the whole hole region, but also give the quantitative values of burrs and their evaluation indicators. The repeatability precision of the system is less than 0.8 μm and the burr height accurate rate is 5 μm, which meets the requirements of accurate measurement of hole burr.