Aiming at the problems of optical imaging for low altitude, low speed and small target recognition ability and low signal-to-noise ratio, a low altitude and high resolution lidar optical system was designed. The MEMS mirror was used by the scanning device of the transmitting optical system, and the beam expanding system was designed to ensure the beam quality of the laser emitted at different scanning angles. The digital mirror device combine with objective lens, polarizing device were used for receiving optical system, the background noise was greatly lower than laser receiving system using single-point detector and could realize laser echo receiving and visible light imaging at the same time. The structure parameters of the optical system were given, an optical system was designed using optical design software. The optical system has a spatial resolution of 0.5 mrad/pixel and an array scale of 200×200. The simulation results show that design method is feasible. The detection distance can reach 1000 m, and the background noise can be reduced by about 22162 times compared to the single-point detector receiving system.ystem.