Photoacoustic/ultrasound (PA/US) dual-modality imaging has been evolving rapidly for the last two decades. Handheld PA/US probes with different implementations have attracted particular attention due to their convenience and high applicability. However, developing a volumetric dual-modality PA/US imaging probe with a compact design remains a challenge. Here, we develop a handheld volumetric PA/US imaging probe with a special light-ultrasound coupling design and an internal scanning mechanism. A coaxial design for the excitation and detection paths in a customized 3D-printed housing with a size of 110 × 90 × 64 mm3 is proposed to optimize the signal-to-noise ratio (SNR) of the handheld probe for deep tissue imaging. Two parallel and synchronously rotational acoustic reflectors allow for volumetric imaging with an effective field of view (FOV) of more than 30 mm × 20 mm × 8 mm. In addition to simulation and phantom validations, in vivo human trials are successfully carried out, demonstrating the high imaging quality and stability of the system for potential clinical translations.