In fluorescence molecular tomography (FMT), the time-resolved (TR) measurement can provide the richest information on photon migration. A full time-resolved scheme is extended to time-domain fluorescence molecular tomography, based on the finite element-finite time difference diffusion equation in forward model and the Newtown-Raphson inversion method. The abilities of spatial resolution, quantitativenesss, discerning the differences in target size, grayscale resolution and noise robustness are validated by using simulated data. The proposed method is demonstrated with the capability of simultaneously recovering the fluorescent yield and lifetime. Compared with the generalized pulse spectrum technique for reconstructing images, it shows its superiority in almost every aspect.