The present invention relates to a semi scissor-type lift for vehicles having an improved structure. The semi scissor-type lift includes: two vehicle mounts (10) parallel to each other; four sets of lifting units (100) of which two sets are symmetrically disposed on front and rear portions of the vehicle mounts (10) to lift the vehicle mounts (10); and four power units (200) for operating the lifting units (100). Each of the lifting units (100) includes: a main link (20) having a lower end rotatably supported in a support hole (22) by a first pin (P1) and an upper end coupled to an operating bar (40) to slidably support the vehicle mounts (10); and an auxiliary link (30) having a length less than that of the main link (20 and having an outer end rotatably connected to the outside of each of the vehicle mounts (10) by a third pin (P3) and an inner end rotatably connected to the main link (20) by a second pin (P2). A first cylinder part (210), a second cylinder part (220), a third cylinder part (230), and a fourth cylinder part (240) include first, second, third, and fourth cylinders (211, 221, 231, and 241) of which lower ends are rotatably supported on a lower portion of the main link (20) by the pin (P1 or P4) and first, second, third, and fourth pistons (212, 222, 223, and 224) of which upper ends are rotatably connected to the auxiliary link (30) by a fifth pin (P5) and which are lifted by the first, second, third, and fourth cylinders (211, 221, 231, and 241), respectively.