Aiming at the problem of object structure discontinuity and incompleteness occurred in image completion, an image completion algorithm based on depth information was proposed. Firstly, the plane parameter Markov random field model was established to speculate depth information of the pixels in the image where the scene situate, then the coplanar region in the image determined, and the target matching blocks were located. Secondly, according to the principle of perspective projection, the transformation matrix was derived, which guided the geometric transformation of the matching blocks. Finally, the target cost function which includes the depth term was designed. Experimental results show the proposed algorithm has superiority in both subjective details and Peak Signal-to-Noise Ratio (PNSR) statistics.