This article presents a measurement method for integrated three-dimensional shape and multispectral color measurement with the use of a single detector for data acquisition. Its implementation comprises a shape measurement system using structured light projection combined with a custom developed multispectral camera. Both devices are controlled by dedicated software which enables the estimation of spectral reflection in every point registered on the surface of the measured object. The main application of this research is the digitization of cultural heritage objects for storage, visualization, and copying purposes. Examples of measurement results are presented as well as discussion of measurement uncertainty and directions of further research.