The vertical profile of atmospheric temperature is a principal state variable to study atmospheric stability. A lidar system, constructed using a 355 nm Nd:YAG laser transmitter, measures the temperature profile using the rotational Raman technique. In comparison with traditional Raman lidar, the major innovations are the use of a low peak power and high repetition rate laser to achieve eye-safe operation in a compact reliable instrument and the use of an angle tuning filter to select operating wavelengths. We demonstrate the capability of both nighttime and daytime measurements as a step toward a future stand-alone capability for routine measurements of important meteorological properties in the lower atmosphere.