Terahertz frequency range spans from 0.1 to 10 THz. Terahertz radiation can penetrate nonpolar materials and nonmetallic materials, such as plastics, wood, and clothes. Then the feature makes the terahertz imaging have important research value. Terahertz computed tomography makes use of the penetrability of terahertz radiation and obtains three-dimensional object projection data. In the paper, continuous-wave terahertz computed tomography with a pyroelectric array detectoris presented. Compared with scanning terahertz computed tomography, a pyroelectric array detector can obtain a large number of projection data in a short time, as the acquisition mode of the array pyroelectric detector omit the projection process on the vertical and horizontal direction. With the two-dimensional cross-sectional images of the object are obtained by the filtered back projection algorithm. The two side distance of the straw wall account for 80 pixels, so it multiplied by the pixel size is equal to the diameter of the straw about 6.4 mm. Compared with the actual diameter of the straw, the relative error is 6%. In order to reconstruct the three-dimensional internal structure image of the straw, the y direction range from 70 to 150 are selected on the array pyroelectric detector and are reconstructed by the filtered back projection algorithm. As the pixel size is 80 μm, the height of three-dimensional internal structure image of the straw is 6.48 mm. The presented system can rapidly reconstruct the three-dimensional object by using a pyroelectric array detector and explores the feasibility of on non-destructive evaluation and security testing.