Development of a lightweight, low-cost, easy-to-use and low-maintenance lidar technique has been of great interest for atmospheric aerosol remote sensing in recent years and remains a great challenge. In this work, an 808 nm mini-Scheimpflug lidar (SLidar) system with about 450 mm separation between the transmitter and the receiver has been developed by employing a 114 mm aperture Newtonian telescope (F4). System performances, such as the beam characteristic, the range resolution, and the signal-to-noise ratio of the lidar signal, have been carefully investigated. Despite employing a small receiving aperture, all-day measurements were still feasible with about a one-minute signal averaging for both the horizontal urban area monitoring and the slant atmospheric sounding in the boundary layer. The lidar signal in the region of 29-50 m with a scattering angle less than 179.5° could be slightly underestimated due to the variation of the phase function. The extinction coefficient evaluated in the region between 29 and 2000 m according to the Klett method agreed well with the concentrations of particulate matters for both horizontal and slant measurements. The promising result demonstrated in this work has shown great potential to employ the robust mini-SLidar system for atmospheric monitoring in the boundary layer.