Based on the self-triggering pulsed technique, a novel pulsed time-of-flight (TOF) laser range-finding method is proposed to improve the accuracy and measuring speed of laser distance measurement. A theoretical analysis is carried out, and three basic equations are presented to describe the method. Furthermore, a measurement device is described and experimental evidence is presented to show the feasibility of measuring distance with 0.5-mm resolution over a 10-m range.