The invention proposes a laser radar echo processing method based on an optical MEMS (micro-electro-mechanical system), and the method comprises the steps that a laser radar emits a laser pulse, is reflected on an MEMS micro-galvanometer, is irradiated to the surface of a to-be-tested target, is received by a receiving lens, and is concentrated in a detecting element on a focal plane; S2, the detecting element outputs a photoelectric signal, extracts the current time Tn from the photoelectric signal, obtains the range finding data Dn, and then stores the range finding data Dn, the position number Pij of the detecting element and a current scanning angle data (theta)n for package and storage; S3, the steps S1 and S2 are repeatedly executed according to a preset sample capacity till the datasatisfying the preset sample capacity is obtained; S4, a range of a response angle of the detecting element is determined, and finally the detecting element is constrained to respond within a corresponding angle range. The method does not need an additional high-precision measurement device for assistance, and can achieve the detection, calculation and confirmation of a receiving angle of a lasersignal reflected by the to-be-tested target.