A Doppler lidar was reported in which the laser frequency is stabilized and the backscattered light frequency is discriminated by a multi-peak and less-peak atomic Faraday anomalous dispersion optical filter (FADOF), respectively. The transmission spectrum of FADOF is stable as it is based on an atomic transition, and slightly tunable with a magnet due to Zeeman effect. The high frequency stability of FADOF provides a high velocity accuracy, and the tunability of FADOF transmission spectrum makes the measurement range flexible. An experimental lidar system was described based on cesium FADOFs, and the experimental error is of 0.74 m/s over velocities ranging from -40 to 40 m/s.