Single-pixel imaging lidar is a novel technology that leverages single-pixel detectors without spatial resolution and spatial light modulators to capture images by reconstruction. This technique has potential imaging capability in non-visible wavelengths compared with surface array detectors. An avalanche photodiode (APD) is a device in which the internal photoelectric effect and the avalanche multiplication effect are exploited to detect and amplify optical signals. An encapsulated APD detector, with an APD device as the core, is the preferred photodetector for lidar due to its high quantum efficiency in the near-infrared waveband. However, research into APD detectors in China is still in the exploratory period, when most of the work focuses on theoretical analysis and experimental verification. This is a far cry from foreign research levels in key technologies, and the required near-infrared APD detectors with high sensitivity and low noise have to be imported at a high price. In this present study, an encapsulated APD detector was designed in a linear mode by integrating a bare APD tube, a bias power circuit, a temperature control circuit and a signal processing circuit, and the corresponding theoretical analysis, circuit design, circuit simulation and experimental tests were carried out. Then, the APD detector was applied in the single-pixel imaging lidar system. The study showed that the bias power circuit could provide the APD with an operating voltage of DC 1.6 V to 300 V and a ripple voltage of less than 4.2 mV. Not only that, the temperature control circuit quickly changed the operating state of the Thermo Electric Cooler (TEC) to stabilize the ambient temperature of the APD and maintain it at 25 ± 0.3 °C within 5 h. The signal processing circuit was designed with a multi-stage amplification cascade structure, effectively raising the gain of signal amplification. By comparison, the trial also suggested that the encapsulated APD detector and the commercial Licel detector had a good agreement on the scattered signal, such as a repetition rate and pulse width response under the same lidar environment. Therefore, target objects in real atmospheric environments could be imaged by applying the encapsulated APD detector to the near-infrared single-pixel imaging lidar system.