In order to reduce the influence of airborne platform’s vibration on the accuracy of measurements, the propagation models are established for laser beam pointing error of airborne light detection and ranging (LiDAR). The platform’s vibration is decomposed into linear-vibration and angular-vibration. Then error propagation models for the two types of vibration are built respectively. Rules of that positioning accuracy influenced by linear-vibration and angular-vibration are also studied. The results show that linear-vibration of x would bring positioning error of y and z only when there is a slope on the measured ground, while the positioning accuracy of x is isolated from the other two directions. Angular-vibration has a significant influence on the accuracy of horizontal positioning. Positioning accuracies of y and z are only influenced by rolling vibration, while the pitching and yawing vibration are two main source of positioning error of x.