In this paper, a two-axis compensation device was designed to eliminate the impact of the attitude deviations of the moving platform on the laser point cloud. In order to improve the dynamic performance of the compensation device, the fuzzy proportional-integral differential (PID) controller was employed for the compensation device. Then, a semi-physical simulation experiment was carried out to quantitatively evaluate the dynamic performance of the compensation device using a three-axis turntable and a high-accuracy inertial measurement unit (IMU), which was used to measure the attitude deviations of the three-axis turntable in real time. As a result, the roll and pitch deviations of turntable measured by IMU can be compensated using the two orthogonal frameworks of the compensation device controlled by fuzzy PID controller. The experimental results showed that the fuzzy PID controller compensated the attitude deviations more accurately than the traditional PID controller and the laser pointing direction could be remained within 0.2 degrees using the compensation device.