This paper focuses on the study of Signal Receiving Circuit of Lidar. A signal receiving circuit for a pulsed time-of-flight (TOF) Lidar has been designed. This paper introduces the theories of Lidar and high speed photoelectric detection. The circuit consists of APD array, transimpedance amplifier and differential received amplifier. In the circuit, we use an APD as a photoelectric transformer, AD8015 is used in the circuit because it’s wide bandwidth, and single supply transimpedance. The AD8130 is a differential-to-single-ended amplifier with extremely high CMRR at high frequency, therefore it is used to converting differential signals to single-ended signals. In this paper, the laser pulse signal of 905nm wavelength, 20ns pulse width is used to detect experimentally verified. It is tested that the performance of the receiving circuit of Lidar satisfies the request of the principle system.