In the high precision pulse laser ranging system based on sine wave, due to the factor of high frequency signal crosstalk, or electronic and optical devices with nonlinear and other factors, which would cause pulse time-of-flight periodic error, the range accuracy is reduced. The method of calculating the timing error by using the measuring data of the range finder in a certain distance was presented. An error compensation function curve was constructed by least square fitting, this curve was discretized in a sinusoidal reference period, the discrete data was stored into the single chip. In the distance measurement, the error compensation function curve was used as the reference, the compensation of pulsed time-of-flight periodic error was realized. The method had the advantages of simple principle, reliable data, convenient operation and so on. After the error compensation of the laser pulse measurement, the distance error is within ±3 mm.