Lissajous micro scanners are very attractive in compact laser scanning applications for biomedical endoscopic imaging, such as confocal microscopy, endomicroscopy or optical coherence tomography. The scanning frequencies have a very important effect on the quality of the resulting Lissajous scanning imaging. In this paper, we propose a frequency selection rule for high definition and high frame-rate (HDHF) Lissajous scanning imaging, by deriving the relationship among the scanning field of view (FOV), actuation frequencies and pixel size based on the characteristics of the scanning trajectory. The minimum sampling rate based on the proposed frequency selection rule is further discussed. We report a lead zirconate titanate piezoelectric ceramic (PZT) based Lissajous fiber scanner to achieve HDHF Lissajous scanning imaging. Based on the frequency selection rule, different frequency combinations are calculated, under which the Lissajous fiber scanner can work at the frame rate (FR) of 10 Hz, 20 Hz, 40 Hz and 52 Hz. The trajectory evolution of the Lissajous scanning at the frame rate of 10 Hz has been obtained to verify the applicability of the proposed rule. The measured resolution of the scanner is 50.8 lp/mm at the unit optical magnification, and the measured FOV at the FR of 10 Hz and 40 Hz are 1.620 mm ×1.095 mm and 0.405 mm ×0.27 mm, respectively. HDHF Lissajous scanning images of the customized spatial varying binary pattern are obtained and reconstructed at the FR of 10 Hz and 40 Hz, demonstrating the practicability of the frequency selection rule.