Scanning lidar plays an irreplaceable role in driverless system, which is a research hotspot in recent years. Because the time of each point is different between the multi pulse periods, and the relative motion between the lidar and the imaging target will cause the distortion of the three-dimensional (3D) image reconstruction of the target, so it is necessary to compensate for the real high-precision 3D imaging. In this paper, a point by point compensation method for motion distortion based on the velocity measurement of coherent frequency modulated continuous wave lidar is proposed. The simulation and experimental results show that the relative velocity error and imaging distance error are 0.52% and ±4.76 cm, respectively. Compared with the traditional accelerometer method, the proposed method does not rely on external measurement such as accelerometer, and has higher universality, which is of great significance for the practical application of lidar.