A hybrid solid-state LiDAR system specifically designed for detecting rapidly rotating small celestial bodies was introduced. The ranging principle was analyzed and an imaging model was designed based on the characteristics of the fast steering mirrors and the single-photon array detector. To evaluate the performance and stability of the LiDAR system in small celestial body detection， a mapping validation method based on an outdoor terrain model simulating small celestial body features was proposed. The results show that the hybrid solid-state LiDAR system maintains high accuracy under different operating modes and power levels. In the global terrain mapping mode， the resolution was 1 100×1 100， and the imaging time was 0.86 s. The mapping accuracy was 2.86 cm at a distance of 100 m. In the step-scanning imaging mode， the resolution was approximately one-seventh that of the global terrain mapping mode， and the average accuracy reached 3.10 cm at distances ranging from 34 m to 83 m.