A color-encoded single-shot computer-generated Moiré profilometry (CSCGMP) is proposed. Two sinusoidal gratings with a π phase difference are encoded in red and blue channels respectively to combine a composite color grating. While this composite color grating is projected onto the measured object, the corresponding color deformed pattern can be captured. So two deformed patterns with a π phase difference are separated from its red and blue components respectively. After normalization and subtraction, the AC component of both separated deformed patterns can be extracted. If this AC component respectively multiplied by the two AC components of fringe patterns of reference plane with a π/2 phase difference prepared and saved on the computer in advance, two computer-generated Moiré fringes just respectively standing for sine and cosine of phase which is modulated by the height of the object relative to the reference plane are figured out. So the 3D shape of the measured object can be reconstructed with normal computer-generated Moiré profilometry. Both simulation and experimental results show the feasibility and validity of the proposed method. It has potential in real-time 3D measurement due to its single-shot feature.