Due to the short working wavelength of light detection and ranging (LIDAR), the information of the distance and angular position of the target can be detected more accurately. Therefore, LIDAR has high research significance and wide application prospects in both military and civilian fields. The main components of this technology include the laser emitting module, receiving optical system, detection module and digital information processing system. The receiving optical system is the key factor for the miniaturization of LIDAR. Therefore, we optimized the design and prepared an optical system with a micro-nano structure according to the requirements of the field of view (FOV), focal length and modulation transfer function (MTF). The quality of the micro-nano optical lenses design and preparation directly affects the overall LIDAR system performance. In order to measure and analyze the optical characteristics of the micro-nano optical lenses, a multi-functional optical characteristic testing system is designed and built. The testing system is used to measure and calculate the optical characteristic parameter in the assembled micro-nano optical lenses. Compare the measured value of the optical characteristic parameter with the theoretical value, the measured result meets the design requirements of the micro-nano optical lens. Our experimental data demonstrated the testing system has practical significance for the design, preparation and image quality evaluation of micro-nano optical lenses.