The technology of measuring water depth and underwater terrain with solid-state laser radar sensor is a new measurement method developed in recent years. The solid-state LiDAR sensor technology, as well as their application status and development prospect of water depth measurement, underwater and land integrated topographical surveying in offshore, reefs and inland rivers/lakes/reservoirs are reviewed and introduced. This paper first introduces the propagation characteristics of light waves in water and reflection characteristics of light waves on water surface, and the bathymetry principle of dual-frequency LiDAR (light detection and ranging) based on UAV (unmanned aerial vehicle). Then, the present typical airborne LiDAR bathymetry (ALB) systems and UAV-mounted solid-state LiDAR bathymetry systems are reviewed. Finally, the technical difficulties in measuring application of UAV-mounted LiDAR bathymetry system are summarized and analyzed, in addition, the development prospect of solid-state LiDAR bathymetry technology and its application are pointed out.