We demonstrate a multi-channel pseudo-random coding single-photon ranging system. A pseudo-random multiplexing technique is proposed, which realizes multi-channel pseudo-random ranging only by using one single-photon detector and processing circuit. Compared with the time division multiplexing technique, it will not reduce the maximum unambiguous range while increasing the number of the ranging channel. Eight-channel pseudo-random coding single-photon ranging was realized with the ranging accuracy better than 2 cm. Moreover, photon counting imaging was realized through scanning the laser beams of the eight-channel pseudo-random ranging system. There is no crosstalk between channels, which is suitable for multi-beam long-distance single-photon Lidar.