Abstract: The principle of scannerless LiDAR was introduced. The developed one-dimensional scannerless LiDAR system based on linear APD was described. Linear array APD and infrared pulsed nanosecond laser were employed as detector and probe light source respectively. By using the time-of-flight pulsed laser rangefinding technique, the one-dimensional scannerless distance image of the target could be obtained. Parallel multi-channel pre-amplifiers were implemented and high-speed relays were used to switch between channels, by which, the isolation of channels were improved effectively. Several groups of one-dimensional distance imaging experiments were carried out. The results illustrate that the resolutions of multi-channel distance imaging are better than 10 cm and the average standard deviation for channels is approximate to 8.6 cm. The design in this system provides the basis on developing the two-dimensional scannerless LiDAR by APD planar array.