Abstract: The laser beam pointing stability is a key index in the application research of high energy laser. The measurement of laser beam pointing stability is an important part of the performance realization of high energy laser system. A high-precision laser beam pointing measurement device was constructed with a long-focal focusing mirror and a high-resolution charge coupled device (CCD) as the main components. The gray centroid method was used to locate the center of the laser spot, the center location of the ideal laser spot and the real laser spot was verified, and the error was less than 1 pixel. The CCD high frequency sampling was used to count the center displacement of the laser spot in unit time, so as to obtain the index of laser beam pointing stability. The accuracy of measurement examples can reach to 1.25 μrad. The proposed method is simple and feasible, and has high measurement accuracy, which is suitable for laser beam pointing measurement of various wavelengths and for measurement of other related parameters.