Three-dimensional volume data set is useful for diagnosis in dental treatments. However, to obtain three-dimensional images of a dental arch in general dental clinics is difficult. In this paper, we propose a method to reconstruct pseudo three-dimensional dental images from a dental panoramic radiograph and a tooth surface shape which can be obtained from three dimensional shape measurement of a dental impression. The proposed method finds an appropriate curved surface on which the dental panoramic radiograph is mapped by comparing a virtual panoramic image made from a tooth surface shape to a real panoramic radiograph. The developed pseudo three-dimensional dental images give clear impression of patient's dental condition.