A novel collimator for collimating the fast and slow axis of laser diodes array (LDA) simultaneously is designed optimized by ZEMAX and also fabricated by using a precise three-dimensional control actuator to erode the side of a D-type fiber. This collimator consists of a D-type fiber with a series of longitudinal cylindrical lens array which has the same refractivity as fiber and acts as the slow axis collimator for LDA. Meanwhile, the D-type fiber is also able to collimate the fast axis of LDA with its transverse D-type structure. Experimental results show that the angles of divergence of fast and slow axis are 1.82 mrad and 10.4 mrad respectively after collimation. The power loss is less than 10%.