The hand-eye calibration is a key technology in robot vision guided precision operation. The traditional hand-eye calibration and the robot tool center point (TCP) calibration are carried out separately, which has a large cumulative error. Meanwhile the handeye calibration for depth cameras has a disadvantage of insufficient accuracy. In this article, a new method for simultaneous calibration of hand-eye relationship of depth camera and TCP calibration is proposed. Based on the calibration plane in the camera coordinate system and the calibration plane in the robot arm coordinate system are actually the same plane, and the hand-eye relationship is calculated through the transformation between the two plane equations. This method reduces the cumulative error effect of independent calibration of TCP and hand-eye relationship, and saves calibration time and calibration cost. The results of simulation and measurement show that the proposed method can improve the hand-eye calibration accuracy of depth camera, and the average measured position error after calibration is 0. 2 mm, which provides a new idea for the calibration required for high-precision operation of the robot vision control system.