Due to rapid advances of technology in recent years, the needs to measure freeform surfaces of complex workpieces along with a wide range of measurements are increasing. In response to the needs, our team has been devoted to the development of an in situ geometric dimensioning and tolerancing (GD&T) measurement algorithm based on point cloud data. This measurement algorithm featuring an intuitive user interface applies a globally recognized standard ASME-Y14.5M-2009. The entire algorithm system is further implemented to carry out four different GD&T measurements of processing workpieces. It is also integrated into a rapid scanning platform with a high-precision laser scanning system. This will help the industry not only to deliver high product quality, but also to increase market competitiveness and profits.