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While doing the underwater scanning, navigating, and other tasking, the acquisition of large scale 3D information of the environmental terrain and objects is very important for the UV's navigation safety and task conduction. In this paper, we propose a new approach of underwater target detection using discontinuing digital laser scanning grid. It is shown that the proposed approach can not only suppress the scattering background noise generated by the suspend particles in the water, but also be able to detect the relative depth information of the multiple underwater targets, i.e. the proposed approach can acquire underwater clear image via suppressing laser background scattering noise and display the multiple targets within the visual field simultaneously.