Positive-intrinsic-negative diode (PIN), avalanche photodiode (APD), and single photon avalanche diode (SPAD) are commonly used optoelectronic receivers with different characteristics in practical visible light communication system. To determine the most appropriate candidate, different signal and ambient light strength in the communication scenarios should be taken into account. APD and SPAD receivers have higher sensitivities than PIN, but there are still some defects that restrain their operation performance. APD receiver may generate excessive shot noise, whereas SPAD is limited by the dead time, afterpulsing, and smaller detection area. We initially analyze the noise characteristics of PIN, APD, and SPAD receivers. SNR models are established, and the main factors affecting the performance of APD and SPAD receivers are concluded. Then, the comparison experiments of three kinds of receivers in various transmission distances are conducted, respectively. Finally, the experimental results show that: short and mid distance conditions, PIN and APD are better choices, whereas SPAD performs better in long-distance communication. In addition, if a certain intensity of ambient light is introduced, APD is still better than SPAD even in long distance.