Pulse laser ranging is widely used in remote sensing, mapping, control and navigation, detection, recognition and tracking of military targets. The transmitting and receiving system directly determines the ranging capability of the equipment. To meet the requirements of long-distance and eye-safe, the transmitting and receiving system are designed based on the 1.535 μm Erbium glass laser. The transmitting optical system used aspherical surface to reduce lenses makes the divergence angle less than 0.4 mard. The receiving system adopts the telephoto mode to reduce the spherical aberration and the length of the system and the coupling efficiency is greater than 90%. The theoretical calculation shows that the systems can realize long-distance ranging, and the structure is very compact, which have high engineering application value.