According to demand on the micro radian order angle of divergence of 3D-imaging multi-beam lidar and high registration precision of multi-element parallel condition, the receiving-transmitting registration technology was studied and verified. A receiving-transmitting registration method of multi-beam lidar was proposed, a receiving-transmitting optical system with high precision was realized by using separated receiving and transmitting optical system based on fiber optics. Element divergent angle of transmitting laser was 20 ?滋rad which approached the diffraction limit, receiving field of view was 60 ?滋rad, 51 elements linear parallel receiving-transmitting were realized at near infrared 1 064 nm wavelength. Meantime, the precision of receiving-transmitting registration was under 10 ?滋rad. Experimental verification result indicates that the receiving-transmitting registration method is feasible. Registration precision reaches theory demand. Through temperature analysis, the optical system has good stability during a reasonable temperature range, which can satisfy the engineering application requirements of the 3D-imaging lidar system.