A light detection and ranging （LiDAR） system can actively emit laser light to capture the distance, direction, speed, and contour of an intrusion target with high accuracy and high resolution, and thus it is widely used in the urban security, industrial fields, etc. This paper briefly introduces the mainstream manufacturers of security LiDAR at home and abroad as well as the technical indicators of their products. The principle, characteristics and current status of security LiDAR under different technological regimes are mainly discussed in terms of LiDAR ranging schemes, scanning methods and light source selection, combined with different security applications. The application trend and development future of security LiDAR are summarized and prospected in the end. Security LiDAR will develop toward low-cost, high-performance, serialization, miniaturization, solidification, chip, and multi-source integration.