In order to achieve the goal of high-precision detection of specific target areas, a 1064 nm laser 3-D imaging experimental system was constructed based on a self-developed 32×32 silicon Geiger-mode laser focal plane detector by utilizing the staring laser 3-D imaging technology. Sterling cryogenic packaging technology with a temperature sampling and control module was employed in the detector, which enabled high-precision temperature control and stable operation in a deep cryogenic environment. For the imaging system, the target area with a pulsed laser dot array was illuminated, and the aforementioned detector was used to capture the laser echo signal. After distance gate noise filtering and 3-D point cloud data preprocessing, a 3-D range image of a target at 200 m and a 2-D intensity image of a target at 670 m were successfully obtained. The results demonstrate that the laser 3-D imaging system has a distance resolution of 30 cm, capable of accurately depicting the geometric details of the target. This study provides a reference for the practical engineering application of the staring 3-D imaging technology based on silicon Geiger-mode laser focal plane detector.