An original method for the solution of the inverse problem of laser sensing of the upper ocean layer which has a multilayered light scattering structure is considered. It is suggested that a parametric model of the lidar return be used instead of a discrete representation. A modified version of the Gauss–Newton method is proposed for the estimation of the model parameters which describe the depth of occurrence and reflectivity of the underwater layers. The advantages of this modification are high stability and small errors of the solution.