Frequency-modulated continuous-wave (FMCW) lidar offers high precision and strong interference resistance, capable of synchronously measuring target motion speed and vibration information. However, extracting target information using single-photon signal levels poses a critical challenge in extreme conditions. In this study, we propose a single-photon level FMCW lidar scheme. Quantum compressed sensing (QCS) is employed to simultaneously extract target distance and vibration information. Experimental results demonstrate successful synchronous detection at a beat frequency of 27.304 kHz and a vibration frequency of 500 Hz within an integration time of 0.125 s at a photon counting rate of 9 kcps. This approach provides a new, to the best of our knowledge, solution for FMCW radar application in extreme environments or long-range scenarios.