In the underwater target detection of LiDAR, the underwater transmission of laser is seriously attenuated due to the absorption and scattering of laser by suspended particles in turbid water, especially the noise caused by backscattering will reduce the target contrast and even drown the target echo signal. The carrier modulation technology can effectively suppress backscattering and increase the signal-to-noise ratio of target echo signal. In this paper, the Boolean chaotic signal was used as the carrier modulation signal. Based on its inherent high-frequency intensity modulation characteristics, an underwater imaging system of Boolean chaotic modulation LiDAR was constructed. The three-dimensional imaging experiments of target objects in turbid water with different attenuation coefficients were carried out in the laboratory water tank environment, and the three-dimensional imaging effects of the target in different water quality were compared.