Lidar is vital for the high-resolution and multi-parameter detection of concealed objects, objects in the ares like atmosphere, oceans, lands, and so on. Compared with the traditional time-domain or frequency-domain methods, time-frequency analysis can provide more insight into the analysis, interpretation, and processing of lidar signals. Time-frequency analysis has been widely used, including in feature analysis and extraction of atmospheric parameters, signal denoising, moving target imaging and detection, and micro-Doppler classification analysis. The methods used for the time-frequency analysis of lidar are further developed based on the basic principles and characteristics of time-frequency analysis.