To ensure that LiDAR met the requirements of temperature range and vacuum environment in the detection of extraterrestrial terrain and to solve technical problems such as detection blind spots， small detection range， and difficult accurate alignment of the illumination array and pixel array， this paper proposed a receiving optical system based on a transversal mirror， multi-curvature spherical lens， and flat glass. The common optical axis of the transmitting optical system and the receiving optical system was realized by placing a reflector with 80% reflectivity at 45°. The blind detection area is avoided by using the characteristics of different radii of curvature in different aperture regions of the multi-curvature spherical lens， and an ultra-wide detection range is realized. Through the optimization of the lens material and lens distance tolerance， the thermal insensitive characteristics of the optical system and the precise control of distortion and focal length are realized. The test results show that the receiving optical system can achieve a field of view of Ø1.91°， a super-wide working distance of 30~300 m， a working temperature range of 0~40 ℃， and can adapt to two working environments of vacuum and atmospheric pressure， and has been successfully applied to the asteroid terrain detection lidar.