A Light Detection and Ranging (LIDAR) receiver includes a first lens system and a first detector module optically coupled to the first lens system. The first lens system is configured to transmit a reflected light beam to a plurality of receiving areas of the first detector module, where each of the plurality of receiving areas corresponds to a different set of receiving directions of the reflected light beam. The first detector module includes a first photodetector array and a first analog readout integrated circuit (IC) coupled to the first photodetector array, where the first photodetector array and the first analog readout IC are each arranged in a different one of the plurality of receiving areas of the first detector module. The LIDAR receiver further includes a second lens system adjacent to the first lens system, and a second detector module optically coupled to the second lens system.