A multifunctional frequency modulated continuous wave (FMCW) LiDAR capable of high-precision ranging and multi-parameter sensing is proposed for the first time. By detecting the echo signals from both free space and optical fiber, 3D imaging and the measurements of diverse physical parameters, including environmental temperature, gas concentrations and liquid density can be measured simultaneously. The proposed multifunctional LiDAR exhibits significant application potential in fields such as new energy vehicles and spacecraft.