Abstract: In order to obtain high-precision 3-D range images of target regions, a non-scanning active imaging lidar was developed by using avalanche photodiode (APD) array detector assembly with readout circuit developed by ourselves. Pulse laser at wavelength of 1.064μm was used to irradiate target areas and an APD array detector module was used to receive target diffuse reflection laser echo signal. After information processing, the target area 3-D range images were obtained. The experiment study was carried out on typical targets 3-D imaging. The results show that, the developed non-scanning active imaging lidar can obtain good target area 3-D range images with imaging distance of 1.2km, range resolution of 0.45m and imaging frame rate of 20Hz. The technology of non-scanning active imaging lidar based on APD array detector has made a breakthrough.