diff --git a/python/pandaset/sensors.py b/python/pandaset/sensors.py
index a3dec3f..4a17df6 100644
--- a/python/pandaset/sensors.py
+++ b/python/pandaset/sensors.py
@@ -202,6 +202,16 @@ def __init__(self, directory: str) -> None:
         self._sensor_id = -1
         Sensor.__init__(self, directory)
 
+    def _load_data_structure(self) -> None:
+        gz = sorted(glob.glob(f'{self._directory}/*.pkl.gz'))
+        plain = sorted(glob.glob(f'{self._directory}/*.pkl'))
+        if gz:
+            self._data_structure = gz
+        elif plain:
+            self._data_structure = plain
+        else:
+            super()._load_data_structure()
+
     @overload
     def __getitem__(self, item: int) -> DataFrame:
         ...
diff --git a/python/tests/test_lidar_extensions.py b/python/tests/test_lidar_extensions.py
new file mode 100644
index 0000000..521a1e3
--- /dev/null
+++ b/python/tests/test_lidar_extensions.py
@@ -0,0 +1,40 @@
+"""Tests for LiDAR file extension fallback (#140)."""
+
+import tempfile
+import unittest
+from pathlib import Path
+
+import pandas as pd
+
+from pandaset.sensors import Lidar
+
+
+class TestLidarExtensions(unittest.TestCase):
+    def test_loads_plain_pkl_when_gz_missing(self):
+        with tempfile.TemporaryDirectory() as tmp:
+            root = Path(tmp)
+            pd.DataFrame({"x": [1.0], "y": [2.0]}).to_pickle(root / "00.pkl")
+            (root / "poses.json").write_text("[]")
+            (root / "timestamps.json").write_text("[]")
+            lidar = Lidar(str(root))
+            lidar.load()
+            self.assertEqual(len(lidar.data), 1)
+            self.assertIn("x", lidar.data[0].columns)
+
+    def test_prefers_pkl_gz_over_plain_pkl(self):
+        with tempfile.TemporaryDirectory() as tmp:
+            root = Path(tmp)
+            pd.DataFrame({"x": [1.0]}).to_pickle(
+                root / "00.pkl.gz", compression="gzip"
+            )
+            pd.DataFrame({"x": [999.0]}).to_pickle(root / "00.pkl")
+            (root / "poses.json").write_text("[]")
+            (root / "timestamps.json").write_text("[]")
+            lidar = Lidar(str(root))
+            lidar.load()
+            self.assertEqual(len(lidar.data), 1)
+            self.assertEqual(lidar.data[0]["x"].iloc[0], 1.0)
+
+
+if __name__ == "__main__":
+    unittest.main()