We demonstrate a new laser detection and ranging (LiDAR) system for reconstructing remote targets in three dimensions (3D). In this system, a probe beam, of which wavelength is 532 nm, working at Bessel mode rather than Gaussian mode, exhibits a typical intensity distribution of a bright central spot and some surrounding rings, and takes advantage of non-diffraction character in long-distance ranging. It is an attractive way to improve the imaging resolution of the LiDAR system. Combined with the Si-APD, we built a long-distance LiDAR system and completed the verification experiment. The results indicate that we can achieve an 18.1-μrad angle resolution in long-range target imaging, which provides an effective solution for high-resolution remote imaging.