The return signal of a noncoaxial lidar system with fiber-optic output is examined. The dependence of the overlap regions and the overlap factor of the system on the fiber diameter is calculated for several inclination angles between the laser beam and the optical receiver axes. The effect of central obstruction is included and both cases of Gaussian and quasi-Gaussian laser beam profiles are treated. The irradiance spatial distribution on the focal plane of the system is calculated and experimentally determined. Finally, an alignment procedure of the lidar system is described based on the comparison between the range-corrected lidar signal and the range-corrected exponentially attenuated Rayleigh backscattered coefficient.