The invention provides a laser radar system and a related measurement method. The laser radar system in the embodiment of the invention comprises a transmitting terminal and a receiving terminal, wherein the transmitting terminal comprises a laser light source and a transmitting lens; the receiving terminal comprises a receiving lens, a first light filtering assembly, an imaging module and a photoelectric receiving module. A target object in a view field area is shot by the imaging module and thereceiving lens in the embodiment. According to the embodiment, distance information and image information of the target object are measured simultaneously by specific optical design in the embodiment, the distance information and the image information correspond to each other, so that calibration and synchronous trigger processes are omitted, and errors are reduced; besides, the laser radar system is very simple in structure, low in cost and convenient to popularize and apply.