In order to conduct more thorough research on the structural characteristics of the atmosphere and the distribution and transmission of atmospheric pollution, the use of remote sensing technology for multi-dimensional detection of the atmosphere is needed. A light-weight, low-volume, low-cost, easy-to-use and low-maintenance mini Infrared Lidar (mIRLidar) sensor is developed for the first time. The model of lidar is established, and the key optical parameters of the mIRLidar are optimized through simulation, in which wavelength of laser, energy of pulse laser, diameter of telescope, field of view (FOV), and bandwidth of filter are included. The volume and weight of the lidar system are effectively reduced through optimizing the structural design and designing a temperature control system to ensure the stable operation of the core components. The mIRLidar system involved a 1064 nm laser (the pulse laser energy 15 μJ, the repetition frequency 5 kHz), a 100 mm aperture telescope (the FOV 1.5 mrad), a 0.5 nm bandwidth of filter and an APD, where the lidar has a volume of 200 mm × 200 mm × 420 mm and weighs about 13.5 kg. It is shown that the lidar can effectively detect three-dimensional distribution and transmission of aerosol and atmospheric pollution within a 5 km detection range, from Horizontal, scanning and navigational atmospheric measurements. It has great potential in the field of meteorological research and environmental monitoring.