ICESat-2 is the first photon-counting lidar altimeter satellite in the world. Its ATLAS can obtain high-precision laser foot points covering the world, which helps to improve the positional accuracy of stereo satellite images without ground control points (GCPs). A joint block adjustment method for spaceborne laser altimetry data and stereo satellite images was designed and implemented. First, a multi-condition filter was proposed to select high-precision ATLAS laser altimetry points, and then the selected ATLAS laser altimetry points were used as control points with error for joint adjustment calculations,so that the satellite images orientation parameters were optimized. Experimental results on the ZY3-02 satellite images and ATLAS ATL03 data of Zhengzhou prove that the proposed method can respectively improve the vertical accuracy and the plane accuracy of stereo satellite images by 60.6% and 56.4%. The experiments discussed above demonstrate that the proposed method can effectively improve the positional accuracy of stereo satellite image without GCPs.