This paper presents a nine-bit integrator-based time-to-digital converter (I-TDC) realized in a 180 nm CMOS technology for the applications of indoor home-monitoring light detection and ranging (LiDAR) sensors. The proposed I-TDC exploits a clock-free configuration so as to discard clock-related dynamic power consumption and some notorious issues such as skew, glitch, and synchronization. It consists of a one-dimensional (1D) flash TDC to generate coarse-control codes and an integrator with a peak detection and hold (PDH) circuit to produce fine-control codes. A thermometer-to-binary converter is added to the 1D flash TDC, yielding four-bit coarse codes so that the measured detection range can be represented by nine-bit digital codes in total. Test chips of the proposed I-TDC demonstrate the measured results of the 53 dB dynamic range, i.e., the maximum detection range of 33.6 m and the minimum range of 7.5 cm. The chip core occupies the area of 0.14 × 1.4 mm2, with the power dissipation of 1.6 mW from a single 1.2-V supply.