Aiming at the requirements of avalanche photodiode (APD) focal plane in 3D-lidar imaging, a 2×128 silicon linear-mode APD focal plane module was prepared. It consisted of silicon based APD focal plane array, readout circuit and refrigeration package shell. APD pixels adopted the reach-through structure, achieved a high fill factor by large size micro-lens arrays, realized crosstalk suppression through isolation ring doping, and achieved breakdown voltage and response current uniformity through optimization of the ion implantation process. A low noise transimpedance amplifier circuit with large bandwidth and a high precision timing circuit were designed to realize narrow pulse width and high sensitivity detection. Airtight encapsulation was performed to achieve integrated APD focal plane refrigeration encapsulation with a refrigeration temperature difference over 40K. The test results show that the detection threshold optical power of the focal plane can reach 3.24nW, and the response non-uniformity is 3.8%, the crosstalk is 0.14%, and the minimum time resolution can reach 0.25ns, realizing the simultaneous output function of intensity information and time information.