A laser radar imaging device based on compressed sensing and an imaging method are disclosed. The device comprises an amplitude modulation laser light source, a beam expanding apparatus, two lenses, a DMD digital micro-mirror, an APD photoelectric detector, a high-pass filter, a multiplier, a low pass filter, two AD analog-digital converters, a control system and an image reconstruction system. After being emitted, the laser is scattered by an imaging object and then is projected to a surface of the DMD digital micro-mirror. Reflected light is focused by another lens, then is received by an APD single point detector and then is converted into an amplified voltage signal. High-pass filtering, mixing and low-pass filtering are successively performed on the voltage signal on one parallel branch and the signal penetrates into the reconstruction system after analog-digital conversion. Simultaneously, the voltage signal directly penetrates into the reconstruction system on another parallel branch after the analog-digital conversion. According to input signals of the two branches and a random matrix corresponding to a DMD control device, a certain reconstruction algorithm is combined so that the reconstruction system can complete imaging. By using the device and the method of the invention, an imaging rate and imaging quality are increased to a great extent.