Due to the discrete distribution computing errors and lack of adaptability are ubiquitous in the current straight line extraction for TLS data methods. A 3D straight line segment extraction method is proposed based on spherical projection for single station terrestrial laser point clouds. Firstly, horizontal and vertical angles of each laser point are calculated by means of spherical coordinates, intensity panoramic image according to the two angles is generated. Secondly, edges which include straight line features are detected from intensity panoramic image by using of edge detection algorithm. Thirdly, great circles are detected from edges of panoramic image using spherical Hough transform. According to the axiom that a straight line segment in 3D space is a spherical great circle after spherical projection, detecting great circles from spherical projected data sets is essentially detecting straight line segments from 3D data sets without spherical projection. Finally, a robust 3D straight line fitting method is employed to fitting the straight lines and calculating parameters of the straight line segments. Experiments using different data sets and comparison with other methods show the accuracy and applicability of the proposed method.