Aiming at the rapid coaxiality measurement of serial hole part with a small diameter, a coaxiality measuring rod for each layer hole with a single LDS (laser displacement sensor) is proposed. This method does not require the rotation angle information of the rod, and the coaxiality of serial holes can be calculated from the measured values of LDSs after randomly rotating the measuring rod several times. With the mathematical model of the coaxiality measuring rod, each factor affecting the accuracy of coaxiality measurement is analyzed by simulation, and the installation accuracy requirements of the measuring rod and LDSs are presented. In the tolerance of a certain installation error of the measuring rod, the relative center of the hole is calculated by setting the over-determined nonlinear equations of the fitting circles of the multi-layer holes. In experiment, coaxiality measurement accuracy is realized by a 16 μm precision LDS, and the validity of the measurement method is verified. The manufacture and measurement requirements of the coaxiality measuring rod are low, by changing the position of LDSs in the measuring rod, the serial holes with different sizes and numbers can be measured. The rapid coaxiality measurement of parts can be easily implemented in industrial sites.