Language has been one of the most effective ways of human communication and information exchange. To solve the problem of non-contact robust speech recognition, recovery, and surveillance, this paper presents a speech recovery technology based on a 24 GHz portable auditory radar and webcam. The continuous-wave auditory radar is utilized to extract the vocal vibration signal, and the webcam is used to obtain the fitted formant frequency. The traditional formant speech synthesizer is selected to synthesize and recover speech, using the vocal vibration signal as the sound source excitation and the fitted formant frequency as the vocal tract resonance characteristics. Experiments on reading single English characters and words are carried out. Using microphone records as a reference, the effectiveness of the proposed speech recovery technology is verified. Mean opinion scores show a relatively high consistency between the synthesized speech and original acoustic speech.