The present application discloses an optical receiving device and an optical sensing device. The optical receiving device includes a lens assembly, a reflecting member, and a photosensitive member. The lens assembly includes at least one lens. The reflecting member is located on a transmission path of light passing through the lens assembly. The reflecting member has a reflecting surface. The reflecting surface is configured to reflect the light passing through the lens assembly. The photosensitive member has a photosensitive surface. The photosensitive surface is configured to receive light reflected by the reflecting surface. After passing through the lens assembly, a detecting echo light beam reflected back from a target object is reflected by the reflecting surface of the reflecting member, so that the light is transmitted to the photosensitive surface of the photosensitive member intensively.