A color image digital watermarking technique was proposed to solve the relationship among the watermark, invisibility and robustness of digital watermarking. Firstly, the RGB three-channel decomposition was performed on the color QR codes and color images. Secondly, color watermark was treated by chaotic transform and Color image by Contourlet transform. Thirdly, the watermark was embedded into the matrix of the low frequency of the carrier image after singular value decomposition. The simulation result of this algorithm was PSNR>50 dB. Experimental results showed that the proposed algorithm was capable of resisting arbitrary rotation and basic image processing operations. The color QR codes extracted could be successfully decoded. The algorithm had strong robustness and good invisibility, and could well embed color watermark into color image. Therefore, it could be used in the actual digital copyright protection.