This study presents the setup, methodology and results from a measurement campaign dedicated to the characterization of full-scale wind turbine wakes under different inflow conditions. The measurements have been obtained from two pulsed scanning Doppler lidars mounted on the nacelle of a 2.5 MW wind turbine. The first lidar is upstream oriented and dedicated to the characterization of the inflow with a variety of scanning patterns, while the second one is downstream oriented and performs horizontal planar scans of the wake. The calculated velocity deficit profiles exhibit self-similarity in the far wake region and they can be fitted accurately to Gaussian functions. This allows for the study of the growth rate of the wake width and the recovery of the wind speed, as well as the extent of the near-wake region. The results show that a higher incoming turbulence intensity enhances the entrainment and flow mixing in the wake region, resulting in a shorter near-wake length, a faster growth rate of the wake width and a faster recovery of the velocity deficit. The relationships obtained are compared to analytical models for wind turbine wakes and allow to correct the parameters prescribed until now, which were obtained from wind-tunnel measurements and large-eddy simulations (LES), with new, more accurate values directly derived from full-scale experiments.