Time-domain (TD) spatial frequency domain (SFD) diffuse optical tomography (DOT) potentially enables laminar tomography of both the absorption and scattering coefficients. Its full time-resolved-data scheme is expected to enhance performances of the image reconstruction but poses heavy computational costs and also susceptible signal-to-noise ratio (SNR) limits, as compared to the featured-data one. We herein propose a computationally-efficient linear scheme of TD-SFD-DOT, where an analytical solution to the TD phasor diffusion equation for semi-infinite geometry is derived and used to formulate the Jacobian matrices with regard to overlap time-gating data of the time-resolved measurement for improved SNR and reduced redundancy. For better contrasting the absorption and scattering and widely adapted to practically-available resources, we develop an algebraic-reconstruction-technique-based two-step linear inversion procedure with support of a balanced memory-speed strategy and multi-core parallel computation. Both simulations and phantom experiments are performed to validate the effectiveness of the proposed TD-SFD-DOT method and show an achieved tomographic reconstruction at a relative depth resolution of ∼4 mm.