In satellite laser communication technology, which is built between planets and between a planet and the Earth, the optical antenna is the key point. Thus, research on optical system design is important. The off-axis reflective system has no obscuration and hence possesses a high efficiency for energy transfer. This study proposes a novel method for designing a free-form off-axis reflective imaging system. This study also introduces differential equations that depend on Fermat’s principle and sine condition. Finally, a free-form off-axis two-mirror optical system was designed by using the differential equation method. This system includes one intermediate image plane, in which the field of view (FOV) is - 5° to - 4° in the y-axis and - 1° to 0° in the x-axis. The modulation transfer function was greater than 0.7 at 50 lp/mm, and the efficiency of energy transmission was high. The free-form off-axis two-mirror optical system involves a wide range of application prospects in the optical antenna used in the satellite laser communication systems. Moreover, the design method that used differential equations was proven simple and effective.