In this work, a novel Raman scanner capable of performing point-to-point mapping of relatively large surface of paintings is presented. This device employs an excitation wavelength of 1064 nm, and it is equipped with a high efficiency probe in order to collect the back-scattered light from each point of analysis. The use of long depth-of-field optics as well as an autofocus system allowed maintaining the best conditions for the Raman signal acquisition during the scanning, regardless of the surface irregularities. The small dimension of the optical components and the reasonable size of mechanical parts made this instrumentation particularly suitable for on-site measurements. Finally, the Raman scanner was also equipped with an online temperature control using a thermal sensor, which allows modulating automatically the output power of the laser source in order to prevent overheating and alteration effects during the scanning process. The capabilities of the Raman scanner were evaluated scanning two valuable paintings one attributed to Ambrogio Lorenzetti and the other to Duccio da Buoninsegna of the fourteenth century.