A high precision, high linearity, light and small module for measuring time of flight of laser pulses is designed. Because the TDC7201 chip has advantages in time measurement, it is used as the core for time measurement. The STM32F103RET6 microcontroller is used as the main control chip for controlling the whole module. The experimental results show that the module has its time measurement accuracy up to 4.1 ps in the time interval range from 12 ns to 100 μs. The linear fitting correlation coefficient of the measurement result is 1. It can measure the time intervals between the main laser pulse and five echoes. This module can meet the practical application requirements of high precision, high linearity, multi-echo and lightweight of the pulsed laser ranging systems based on SiPM.