Registration of 3D point clouds is an important issue in the field of 3D reconstruction. In this work, we proposed a non-iterative registration method based on the motion screw theory and trackable features. The screw theory is derived from the theory of rigid body mechanics, which holds the idea that the motion of rigid body can be regarded as a kind of spiral motion and can be effectively represented by an angular velocity vector and a linear velocity vector. It has not been utilized in 3D data registration before as far as we know. In this paper, 3D data registration based on the motion screw theory is specifically introduced, and a searching strategy based on the trackable features in image sequences is presented to improve the accuracy of 3D registration. The proposed method has been successfully tested on real multi-view data. Experimental results showed that it could simplify the computational process, accelerate the speed of registration, and achieve higher precision than other methods.