  We propose a quantum-enhanced lidar system to estimate a target's radial
velocity which employs squeezed and frequency entangled signal and idler beams.
We compare its performance against a classical protocol using a coherent state
with the same pulse duration and energy, showing that quantum resources provide
a precision enhancement in the estimation of the velocity of the object. We
identify three distinct parameter regimes characterized by the amount of
squeezing and frequency entanglement. In two of them, a quantum advantage
exceeding the standard quantum limit is achieved assuming no photon losses.
Additionally, we show that an optimal measurement to attain these results in
the lossless case is frequency-resolved photon counting. Finally, we consider
the effect of photon losses for the high-squeezing regime, which leads to a
constant factor quantum advantage higher than $3$ dB in the variance of the
estimator, given a roundtrip lidar-to-target-to-lidar transmissivity larger
than $50\%$.
