We excited a cavitation bubble by irradiating a Nd:YAG laser pulse onto a titanium target that was installed in liquid nitrogen at a temperature below the boiling point. To our knowledge, this is the first experiment in which a cavitation bubble has been successfully excited in liquid nitrogen. We compared the cavitation bubble in liquid nitrogen with that in water on the basis of an equation reported by Florschuetz and Chao [J. Heat Transfer 87, 209 (1965)].