When the object plane is not parallel to the lens plane in an imaging system, if the image plane, the object plane and the lens plane intersect into a straight line—satisfying the Scheimpflug imaging principle, the imaging system can still clearly image the object and achieve infinite depth-of-focus (DoF). The newly developed Scheimpflug lidar (SLidar) technique based on the Scheimpflug imaging principle can thus utilize continuous wave diode lasers as light sources and image sensors as detectors, featuring short blind range, compact structure, low maintenance and high cost performance, etc. In recent years, the SLidar technique has gradually been applied to the fields of atmospheric environment monitoring, three-dimensional (3D) target imaging, fluorescence(hyperspectral) lidar detection, ecological studies, combustion diagnosis, and water-body optical measurements, etc. This article will thoroughly explain the basic principles of the SLidar technique, discuss latest progresses in these fields and present its perspectives.