Techniques and apparatuses are described that implement a low-cost readout module for a lidar system. The low-cost readout module includes a timing readout path and an intensity readout path, which are coupled to a receive channel of the lidar system. The timing readout path generates time-sensitive information using a threshold-triggered timing circuit, which can include a time-to-digital converter. The intensity readout path generates non-time-sensitive information using a hold-and-sample circuit, which can include a hold circuit and an analog-to-digital converter. By utilizing the threshold-triggered timing circuit to provide time-sensitive data and the hold-and-sample circuit to provide non-time-sensitive information, the readout module can have a lower cost than other readout modules that utilize a high-performance analog-to-digital converter for each receive channel.