Understanding and characterization of the planetary boundary layer (PBL) are of great importance in terms of air pollution management, weather forecasting, modelling of climate change, etc. Although many lidar-based approaches have been proposed for the retrieval of the PBL height (PBLH) in case studies, development of a robust lidar-based algorithm without human intervention is still of great challenging. In this work, we have demonstrated a novel deep-learning method based on the wavelet covariance transform (WCT) for the PBLH evaluation from atmospheric lidar measurements. Lidar profiles are evaluated according to the WCT with a series of dilation values from 200 m to 505 m to generate 2-dimensional wavelet images. A large number of wavelet images and the corresponding PBLH-labelled images are created as the training set for a convolutional neural network (CNN), which is implemented based on a modified VGG16 (VGG – Visual Geometry Group) convolutional neural network. Wavelet images obtained from lidar profiles have also been prepared as the test set to investigate the performance of the CNN. The PBLH is finally retrieved by evaluating the predicted PBLH-labelled image and the wavelet coefficients. Comparison studies with radiosonde data and the Micro-Pulse-Lidar Network (MPLNET) PBLH product have successfully validated the promising performance of the deep-learning method for the PBLH retrieval in practical atmospheric sensing.