A dual galvanometer based multi-points parallel scanning lidar is designed, which provides 30°×30° field of view (FOV) and maximum 10 Hz imaging frame rate. We analyze the lidar′s emitting and receiving optic different demands for galvanometers, and figure out geometric minimum shapes of galvanometers without reducing the system performance, which provides theoretical basis to design smaller galvanometers. Moreover, we analyze the system errors through the footprint coordinate formula of the lidar, and carry out a systematic error calibration experiment according to the analysis results. The co-planarity errors of images acquired in the experiment are 3.6 cm after post-processing, which correspond to theoretical calculations.