Light detection and ranging (LiDAR) is widely used in spacecraft navigation, security monitoring, 3-D mapping, autonomous vehicle, military equipment, robots, and other fields. It has important military and civil value. Avalanche photodiode (APD) array detection technology plays a vital role in the development of LiDAR. In this paper the background of LiDAR and APD array was first introduced, then the development history and latest progress of APD array and LiDAR system was summarized. Finally, the development prospect and research trend of APD array detection technology was summarized.