Long-range light detection and ranging (lidar) of active illumination optical imaging has widespread applications, such as remote sensing, satellite-based global topography, and target recognition and identification. Here, to make trade-offs among imaging efficiency, resolution, receiving field of view, divergence angle, and detected distance, we demonstrate a scanning single-pixel imaging lidar (SSPIL), enjoying the merits of the traditional pointing-by-pointing scanning imaging and single-pixel imaging. The imaging strategy of SSPIL is divided into scanning search and staring imaging processes. These strategies can save most time consumption for imaging background areas and thus improve imaging efficiency. Three imaging experiments were conducted in real urban atmospheric conditions. The preliminary results show SSPIL has the ability for long-range imaging with high efficiency, high resolution, and a large receiving field of view. Also, from the imaging results, we found that multiple samples can improve the SNR of imaging in the real urban atmosphere. The present work may provide a valuable alternative approach in the long-range active illumination optical imaging fields.