An optoelectronic sensor (10) for distance determination comprises a transmitter (12) for transmitting a light beam (14) having a plurality of consecutive individual light pulses, a rotatable deflection unit (16) for deflecting the light beam (14), an angle measuring unit (28) for determining an angular position of the deflection unit (16), a light receiver (24) for generating reception pulses from remitted transmission light, a plurality of histogram memories (34) each associated with an angular position, and an evaluation unit (30) which is configured to accumulate time histograms in the histogram memories (34) across several periods of the rotational movement of the deflection unit (16) from reception pulses which are each detected at the angular position associated with the respective histogram memory (34), and to determine, from the histograms of the associated histogram memory (34), an object distance for an angular position.