This study proposes a simple and high-precision binocular ranging method. A stereo correction algorithm was first used for the stereo correction of the non-forward parallel structures of the left and right cameras. The improved Census transform algorithm was then applied to obtain accurate disparity values. Finally, the true distance information was calculated based on the special epipolar-line geometry of binocular vision. Further, the multi-center points were used to compare with the surrounding pixels in the original Census transform, which is improved as mutual supervision and fusing of multi-center points. Thus the accuracy of the stereo matching is improved. Two identical complementary metal-oxide-semiconductor (CMOS) cameras were used to build a binocular ranging platform, and the hardware, algorithm and calibration process in the flow chart of ranging were introduced in detail. The experimental results show that the proposed method performs better than the original Census transform. For a 2 m measurement, the accuracy is increased by 19.1% and the measurement error is 6.4 cm, thus meeting the requirements of high-precision binocular ranging.