Among temporal phase unwrapping methods based on structured light projection, tri-frequency heterodyne method, with the merits of less projected fringe, high precision and high reliability, has become a practical method in objects three-dimensional (3D) shape measurement. In this paper, a 3D shape measuring system was developed with a digital micromirror device (DMD) and synchronously trigged CCD camera. The 3D shape of a measured object was reconstructed from the deformed fringe patterns based on tri-frequency heterodyne method. The practical experiments were carried on some coins, and the results show that the system can restore their 3D shape on the tested partition with an accuracy of microns. This measurement system is prominent in 3D shape measurement of small or tiny objects, sample testing, and many other application fields.