A lidar for measuring fluorescence from atmospheric aerosols was constructed with a third harmonic Nd:YAG laser, a 1-m diameter telescope, and a 32-channel time-resolved photon-counting spectrometer system. Fluorescence spectrum and vertical distribution of fluorescent aerosols in the lower atmosphere were observed during the nighttime with excitation at 355 nm. Relatively strong broad fluorescence was observed from Asian dust and air-pollution aerosols transported from urban and industrial areas. Rough estimates of the fluorescence efficiency were given for these aerosols. The intensity of the total fluorescence over the spectral range from 420 to 510 nm was comparable to that of nitrogen vibrational Raman scattering. That indicates the possibility of making a compact Raman-Mie-fluorescence lidar for aerosol monitoring.