Light detection and ranging (LIDAR) is a kind of optical sensor with accurate positioning and efficient identification ability that can quickly acquire three-dimensional information of targets. Therefore, LIDAR plays an increasingly important role in military reconnaissance, unmanned driving, space docking and other fields. However, in complex environment such as fog, smoke, sea and so on, scattering effect in light field causes serious degradation of the received signal in traditional LIDAR. Under these environmental conditions, the performance of traditional LIDAR will decrease rapidly, or fail to work. Aiming at the degradation characteristics of received signal in scattering environment, the transmission model of Mie scattering transient light field of Monte Carlo was firstly established. Then, the time-domain distribution law of the transmission light field was simulated by computer software. According to this law, the filtering algorithm of the time-domain signal de-scattering effect was studied. Finally, a kind of penetrating LIDAR based on TCSPC was built in laboratory. Through the imaging experiments in fog simulation environment, the results verify that the penetrating LIDAR method has a good effect on improving the quality of target image reconstruction. This study provides a base for the further applications of LIDAR in complex scattering environment.