As a main payload of the lander of Chang’E-5, lunar regolith penetrating array radar (LRPR) is a multi-input and multioutput ground penetrating array radar system. The following are the main characteristics of LRPR: it works at a fixed location, the layout of the antennas is irregular, and the amount of data for imaging is very rare. A prestack depth migration imaging method based on Kirchhoff integral is presented, which overcomes the problems of irregular antenna layout and the layered medium. The issue of sparse matrix imaging for LRPR is solved successfully by the method. The laboratory experiment demonstrates that the proposed method is very suitable for LRPR imaging, in which the targets are clearly distinguished and their depths are also consistent with the reality.