Lidar has been widely used in areas of ranging and imaging. To be able to perform real-time control of the entire system, this article designed a lidar data acquisition system based on LabVIEW and the PC system allows real-time display for data acquired by lidar system. Through the serial port, the PC system can adjust part of the laser radar system parameters, such as frequency, APD (Avalanche Photo Diode) bias, the echo threshold, etc in real-time. In this way, we achieve the instruction communication between the PC system and the lidar. In addition, the PC system can also acquire data from the lidar through the Ethernet. Through the practical test, the PC system can successfully acquire and display the echo signal measured by lidar system in real-time, and function of parameter adjustment is also very sensitive.