The invention provides a receiving adjustment bracket for lidar and a lidar receiving device. The adjustment bracket comprises a base plate, first side plates and second side plates. The base plate has a top surface and a bottom surface. The first side plates and the second side plates are arranged in a spaced manner on the top surface. A clamping slot for adjusting and fixing a lidar receiving circuit board is formed among the first side plates, the second side plates and the base plate. The second side plates are provided with at least one second gap for avoiding the components of the receiving circuit board. The receiving circuit board can be flexibly adjusted through the clamping slot between the first side plates and the second side plates of the receiving adjustment bracket. The second side plates are provided with gaps which can fully avoid the components of the receiving circuit board. Moreover, the receiving adjustment bracket has a simple structure, and integrates multiple parts fixing modes.