Light detection and ranging, or lidars, have emerged as a type of powerful tools in remote sensing from space. Compared with radars, lidars operate at a much shorter wavelength with a much narrower beam and smaller transmitter and receiver. Compared with passive remote sensing instruments, lidars carry their own light sources and can continue measurement day and night, and over polar region. Compared with spectrometers, lidars offer a much higher spectral resolution and consistent illumination and observation angles. This article gives a brief review of the development of space lidars used in planetary surface elevation and reflection measurements, including the history of laser altimeters in space, basic instrument design, and the trend of the technology development.