Provided is a non-mechanical-scanning-type optical radar apparatus that is capable of long distance measurement and its cost is reduced. The optical radar apparatus includes: a light emitting section; and a light receiving system, the light receiving system at least including a focusing optical element and a distance sensor that includes a light receiver, the target field of view being projected on the light receiver through the focusing optical element, the distance sensor being configured to set an activation region in a part of the light receiver depending on the scanning with the light and measure a distance to the object with use of a signal from the activation region.