Recent advancements in 3D measurement technologies have increased the urgency of requiring high-speed 3D measurement in many fields. This study presents a novel four-step triangular pattern phase-shifting 3D measurement using the motion blur method, which combines the advantages of phase-shifting methods. To comply with the high speed requirement, binary coded triangular patterns are projected and could dither vertically. Therefore, the image captured by the camera is blurred into grayscale-intensity triangular patterns, which can be used for phase unwrapping and 3D reconstruction. The proposed method decreased the projection time compared with sinusoidal patterns using a DMD (digital micromirror device) projector. Furthermore, this study presents a four-step triangular phase-shifting unwrapping algorithm. The experiments indicate that the proposed method can achieve high-speed 3D measurement and reconstruction.