Light Detection and Ranging (LiDAR) is a high-price system for wide-usage automotive driving requirements. The design, implementation, and validation of a performance-complexity efficient LiDAR system are introduced in this paper. A Time-to-Digit (TDC) chip with a low-cost Data-Processing (DP) chip is utilized in this system. The proposed chips have been well validated and can be utilized as processing cores for a generic LiDAR system. The measurement accuracy is a comparison with a high-price commercial product of Time-Correlated Single-Photon-Counting (TCSPC). The values show the proposed system accuracy is respectable for the comparison by many distances from 4.8m to 44.6m, the maximum difference is 0.3%