A pulse laser ranging system employing a time domain waveform matching technique, the system including a software part and a hardware part, wherein the hardware part comprises an optical collimation system, an FPGA, a filter, a photoelectric conversion system, an analog amplifier circuit, a laser transmitter, a signal combination system, an ADC sampling system and a narrow pulse laser transmitting circuit, and the software part comprises a time domain waveform matching analysis algorithm, a waveform compression algorithm, optical path attenuation estimation and an interpolation algorithm, wherein: the FPGA is configured to transmit a control signal to the narrow pulse laser transmitting circuit; the narrow pulse laser transmitting circuit is configured to control the laser transmitter to transmit pulse laser in response to the control signal, whereby the pulse laser is transmitted onto an object through the optical collimation system and is reflected by the object so that an optical echo signal is transmitted to the photoelectric conversion system through the optical collimation system and the filter; and the photoelectric conversion system is configured to convert the optical echo signal into an electric echo signal, characterized in that: the analog amplifier circuit is configured to convert the electric echo signal into an analog echo signal and send the analog echo signal to the signal combination system, wherein a transmission power is adjusted according to optical path attenuation to compensate optical path attenuation such that the power value of a next echo signal falls within an expected range; the FPGA is configured to, when transmitting a control signal to control the laser transmission, send a time reference pulse to the signal combination system; the signal combination system is configured to add the analog echo signal to the time reference pulse to form an echo signal with a time reference; the ADC sampling system is configured to convert the echo signal with a time reference into a digital detection signal and send the digital detection signal to the FPGA to undergo data analysis; and the FPGA is further configured to obtain and output a ranging result through time domain waveform matching analysis. the FPGA is configured to transmit a control signal to the narrow pulse laser transmitting circuit; the narrow pulse laser transmitting circuit is configured to control the laser transmitter to transmit pulse laser in response to the control signal, whereby the pulse laser is transmitted onto an object through the optical collimation system and is reflected by the object so that an optical echo signal is transmitted to the photoelectric conversion system through the optical collimation system and the filter; and the photoelectric conversion system is configured to convert the optical echo signal into an electric echo signal, characterized in that: the analog amplifier circuit is configured to convert the electric echo signal into an analog echo signal and send the analog echo signal to the signal combination system, wherein a transmission power is adjusted according to optical path attenuation to compensate optical path attenuation such that the power value of a next echo signal falls within an expected range; the FPGA is configured to, when transmitting a control signal to control the laser transmission, send a time reference pulse to the signal combination system; the signal combination system is configured to add the analog echo signal to the time reference pulse to form an echo signal with a time reference; the ADC sampling system is configured to convert the echo signal with a time reference into a digital detection signal and send the digital detection signal to the FPGA to undergo data analysis; and the FPGA is further configured to obtain and output a ranging result through time domain waveform matching analysis. the analog amplifier circuit is configured to convert the electric echo signal into an analog echo signal and send the analog echo signal to the signal combination system, wherein a transmission power is adjusted according to optical path attenuation to compensate optical path attenuation such that the power value of a next echo signal falls within an expected range; the FPGA is configured to, when transmitting a control signal to control the laser transmission, send a time reference pulse to the signal combination system; the signal combination system is configured to add the analog echo signal to the time reference pulse to form an echo signal with a time reference; the ADC sampling system is configured to convert the echo signal with a time reference into a digital detection signal and send the digital detection signal to the FPGA to undergo data analysis; and the FPGA is further configured to obtain and output a ranging result through time domain waveform matching analysis.