For the requirement of non-scanning 3D imaging lidar using the wavelength from 900-1 700 nm, a 64×64 linear-mode avalanche photodiode focal plane array(LM-APD-FPA) was proposed, which was composed of InGaAs/InP avalanche photodiode array and CMOS read-out circuitry(ASIC). The working mode of this device was time-of-flight(TOF). APD converted the laser pulse into pulse current which was amplified and thresholded by read-out circuitry, then the laser detection was realized after the comparison of the threshold value, the laser pulse flight time of every pixel was obtained and being converted to binary codes for serial output. Testing results show that the minimal detectable power of 64×64 LM-APD-FPA is 400 nW, time resolution is 1 ns. This device is used in lidar system and realizes non-scanning single-pulse laser 3D imaging, indicating that the linear-mode laser focal plane array is useful in the field of laser 3D imaging.