A sensor device for a motor vehicle includes a light source, a detection device and a control and evaluation device. The control and evaluation device activates the light source to emit pulses, activates the detection device for detecting light reflected back by the environment, and evaluates the signals from the detection device. The control and evaluation device, the detection device and the light source are designed as a Time-of-Flight structure for detection in a first spatial direction such that spatially assignable distance data are detected. The light source and the detection device are disposed in a receiving space arranged along a bearing surface of a vehicle. The light source is disposed inside the receiving space in a tilted manner such than an angle of at least 5 degrees is formed between a normal to the bearing surface and an optical axis of the light source.