Lidar cooperative target is one important part of lidar rendezvous and docking measuring system. According to the requirements of lidar rendezvous and docking measuring system, the optimal design for the structure of lidar cooperative targets to make laser signals return back along incoming path was performed by using the method of the far and near field cooperative targets in order to fast search for and capture to objective spacecraft in the far field and implement accurate measurement in the near field. For the far field cooperative target the multi-dimensional structure of reflector array were adopted and the minimum reflective area can be reached to more than 100 cm² within the effective field of view of 90°×105° to make sure of the ability of laser signal reflection and acquisition of objective spacecraft. The designed lidar cooperative targets in this paper meet the requirement of lidar rendezvous and docking measuring system.