The optimization and design of optical systems is an important research direction in LiDAR. In this paper, the advantages of diffractive optical elements (DOE), such as high design degree of freedom and large dispersion, are used in the receiving end of LiDAR. The focusing and filtering effects are realized at the same time, which reduces the complexity of the optical system. Based on the principle of diffractive optical elements, the optical characteristics of diffractive optical elements are simulated and analyzed. The LiDAR ranging experiment is completed by using the diffractive optical element as the optical receiving end of the LiDAR. It proved that the diffractive optical elements have both a focusing effect and a narrow-band filtering effect. The experimental results are basically consistent with the simulation. Using the advantages of diffractive optical elements in LiDAR, the lightweight, integration, and high efficiency of LiDAR can be realized.