In this study, we report the Doppler-free spectra of buffer-gas-cooled CaOH. We observed five Doppler-free spectra containing low-J Q1 and R12 transitions, which were only partially resolved by previous Doppler-limited spectroscopies. The spectra frequencies were corrected using the Doppler-free spectra of iodine molecules; accordingly, the uncertainty was estimated to be below 10 MHz. We determined the spin-rotation constant in the ground state, which agrees with the values reported in the literature obtained based on millimeter-wave data within 1 MHz. This suggests that the relative uncertainty is much smaller. The present study demonstrates the Doppler-free spectroscopy of a polyatomic radical and the broad applicability of the buffer gas cooling method to molecular spectroscopy. CaOH is the only polyatomic molecule that can be directly laser-cooled and trapped in a magneto-optical trap. High-resolution spectroscopy of such molecules is useful for establishing efficient laser cooling schemes of polyatomic molecules.