We propose an integrated two-dimensional beam-steering device based on an on-chip silicon-nitride switch/emitter structure and off-chip lens for light detection and ranging (Lidar) application at 1550 nm. In this device, light is guided by a 1 × 16 switch to one grating emitter in a 4 × 4 grating-emitter array. The beam from the grating emitter is collimated and steered by a fixed lens. By changing the grating emitter that emits light, different beam-steering angle can be achieved. A divergence angle of 0.06° and a field of view of 2.07° × 4.12° in the far field are achieved. The device has O(log2N) power consumption for N emitters, allows digital control and achieves 18 dB background suppression. Blind-zone elimination and broadband operation are also achieved in our lens-based beam-steering device. Therefore, it is suitable for broadband solid-state Lidar application.