Lidar is an effective tool for remotely monitoring target or object, but the lidar signal is often affected by various noises or interferences. Therefore, detecting the weak signals buried in noises is a fundamental and important problem in the lidar systems. In this paper, an effective noise reduction method combining wavelet improved threshold with wavelet domain spatial filtration is presented to denoise pulse lidar signal and is investigated by detecting the simulating pulse lidar signals in noise. The simulation results show that this method can effectively identify the edge of signal and detect the weak lidar signal buried in noises.