Peanut was used to rapidly and accurately obtain crop growth information including plant height and canopy width in the field.3D LiDAR perception technology was used to obtain the point cloud data of peanut in the field.A 3D point cloud model was constructed through registration， denoising， and other processing of the point cloud data.The point cloud plant segmentation method based on KD-TREE was used to segment the point cloud data of individual peanut plants.The convex hull algorithm was used to estimate plant volume and the rotating caliper method was used to extract plant height and maximum canopy width to obtain the growth information of peanut.Point cloud data of peanut plants at three different stages of growth were collected in a peanut planting area.The method proposed was used to carry out verification tests for the segmentation of individual peanut plant and the extraction of plant height and maximum canopy width.The accuracy of obtaining growth information was investigated.The accuracy of the results was evaluated with recall rate and precision rate.The results showed that the recall rate and precision rate of the segmentation of individual peanut plant in the field was over 85%， indicating that the method proposed has good accuracy and completeness for segmenting point cloud data of peanut in the field.The extracted parameters including plant height and maximum canopy width of peanut were compared with those of manual measurements.The average absolute percentage error of plant height and maximum canopy width at three different stages of growth was 6.271%， 4.368%， 4.986%， and 7.114%， 5.606%， 4.541%， with the root mean square error of 0.010， 0.015， 0.027 m， and 0.011， 0.020， 0.021 m， respectively.The linear regression determination coefficient of plant height and maximum canopy width was 0.888， 0.951， 0.842， and 0.934， 0.932， 0.927， respectively.It is indicated that the use of point cloud measurement can achieve high-precision and non-destructive extraction of phenotypic parameters for peanut in the field.It will provide important technical support for the cultivation and breeding of peanut.