In accordance with some embodiments, systems, methods and media for single photon depth imaging with improved precision in ambient light conditions are provided. In some embodiments, the system comprises: a light source; a single photon detector; an attenuation element configured to provide a variable intensity attenuation factor; and a processor programmed to: (a)-determine an ambient light intensity associated with a scene point; (b)-select an attenuation factor based on the ambient light intensity; (c)-estimate a depth of the scene point based on a multiplicity of photon arrival times determined using the detector during a period of time during which light incident on the detector is attenuated by the selected attenuation factor and during which the light source is configured to periodically emit a pulse of light toward the scene point; (d)-repeat (a)-(c) for each of a multiplicity of scene points.