A design method for a common aperture and multi-band optical navigation sensor was proposed with the aim of solving the problem in which single-band navigation sensors can only get limited information from a target, as they have a low recognition rate. The design method of the initial structure of the common aperture optical system with primary and secondary mirrors as the common part and working in different fields of view was presented based on the theory of optical power distribution. Visible, infrared, and laser channels share a Ritchey-Chretien system to meet the design requirements of a large aperture. To realize the functions of visible imaging, infrared imaging, and LiDAR detection, the receiving part of the LiDAR was separated and the use of spectroscopic elements was reduced by the selective transmission of an optical film on the secondary mirror. The image of the Ritchey-Chretien system was divided into two paths by a prism; one was to the image photodetector and the other was to the image in the uncooled infrared detector. Through a large relative aperture, the radiation response of an uncooled detector was improved. The design results show that the Modulation Transfer Function (MTF) of the visible system is above 0.4 at 90 lp/mm, the MTF of the infrared system is above 0.4 at 14.7 lp/mm, the transfer function of the imaging system is close to the diffraction limit, and the energy of the laser receiving system is up to 90% at 30 μm from the center of the mass of the detector. The imaging quality of the system is suitable at -20—40 ℃.