In this work, to obtain the detailed information about lightning electromagnetic field waveforms, the LabVIEW based-measurement system of time-changing magnetic fields was designed and constructed. The frequency bandwidth of the magnetic field measuring system ranges from 300 [Hz] to 1 [MHz], and the response sensitivity is 2.78 [mV/nT]. Data acquisition system with the resolution of 12 bits and memory capacity of 32 [Mbyte] was triggered by the magnetic field to be measured. The properties and parameters of the magnetic fields produced by cloud discharges were statistically investigated. The magnetic field waveforms radiated from cloud lighting discharges tend to be bipolar, with two or more narrow and several pulses superimposed on the initial front part. The recording length of the magnetic field measurement system is about 10 [ms]. The mean duration of cloud discharges is 1.3 [ms], and the number of outburst pulses for the period is 8 in average. The front times of the magnetic fields are 6.15 [$mu$s] in average. The the zero-to-zero crossing times that is the initial half-cycle duration is widely dispersed and the mean value is 9.61 [$mu$s], and the mean value of percentage depth of dip to opposite polarity is 41.1 [$\%$].