Point cloud registration is one of the key problems of 3D reconstruction. Since classical registration algorithms are relatively slow, especially to handle the point clouds with far distance or the large point clouds, a novel fast point cloud registration algorithm based on NDT and ICP is proposed. The algorithm includes three steps: (1) NDT algorithm is adopted to roughly register the point clouds and adjust the distance and attitude. (2) ICP algorithm is adopted to fine-tune the point clouds after the rough registration to adjust the position and attitude carefully. (3) ICP algorithm is adopted again to make precise registration based on the fine-tuned point clouds. The experiment shows that the proposed algorithm can effectively reduce the registration time cost and achieve high precision even if the point clouds have a far distance or include a large number of points.