A motion measurement and state estimation method based on sequence image is presented for the motion perception and estimation for non-cooperative target with spatial spin or nutation motion. The method consists of two parts. (1) Stereo vision is used to measure the three non-collinear feature points of the target, to establish the target reference system and to measure the relative attitude. (2) The extended Kalman filter is derived to estimate the target angular velocity and inertia ratio using the target kinematics and dynamics equations. Finally, numerical simulation and physical experiment are conducted. The simulation results verified the convergence of the proposed Kalman filter estimation algorithm under different target motions. The robotic arm is used to simulate the spin motion of the target, and the target moving image is acquired by the binocular camera. The experimental results verify that the proposed motion measurement and state estimation method can continuously provide an accurate estimation of the target angular velocity.