The invention discloses a pulse-type laser range finding method, comprising: S1, a controller outputting emission driving signals with time intervals T to drive a laser to emit a laser pulse sequence with (M-1) time intervals T; S2, a return light receiving device receiving reflected pulses, and a time chip recording the flight time Tf of each laser pulse from emission to receiving, and a receiving absolute time Ta, wherein the flight time Tf is much less than the time intervals T; S3, determining whether each received reflected pulse is an effective reflected pulse, storing the flight time Tf and receiving absolute time Ta of the reflected pulse in a controller if the received reflected pulse is effective, and continuing receiving a next reflected pulse if the received reflected pulse is ineffective; and S4, based on the flight time Tf of effective reflected pulses, setting a light velocity to be C, and calculating a distance D to be measured, wherein D=(C*Tf)/2. The pulse-type laser range finding method has the advantages of weak reflection, high accuracy of long distance laser range finding, and strong anti-interference capability.