Abstract: Dynamic tracking and pointing accuracy is one of the important parameters of the acquisition, tracking and pointing (ATP) subsystem of space laser communication system, and its accurate measurement is the key to evaluate the performance of the space laser communication at long distance. The tracking and pointing precision measurement method of the ATP subsystem was introduces, and a dynamic aiming parameter measuring device for space laser communication system based on collimator method was designed. Moreover, the factors affecting the uncertainty of dynamic tracking accuracy measurement were analyzed and discussed. Test results show that the measurement accuracy of the ATP subsystem is 1.9 μrad (k=2) under the condition of 100 Hz vibration frequency, which can be used for the tracking parameter detection of space ATP subsystem of laser communication system and the long-range laser communication performance evaluation.