Object motion can introduce phase error and thus measurement error for phase-shifting profilometry. This paper proposes a generic motion error compensation method based on our finding that the dominant motion-introduced phase error doubles the frequency of the projected fringe frequency, and the Hilbert transform shifts the phase of a fringe pattern by π/2. We apply a Hilbert transform to phase-shifted fringe patterns to generate another set of fringe patterns, calculate one phase map using the original fringe patterns and another phase map using Hilbert transformed fringe patterns, and then use the average of these two phase maps for three-dimensional reconstruction. Both simulation and experiments demonstrated that the proposed method can substantially reduce motion-introduced measurement error.