The purpose is to optimize geodesic waveguide lenses. A general expression is chosen for the round edge of geodesic lens based on the design of perfect geodesic waveguide lenses free of singularity of curvature. The curvature in the round area is discussed for different round area functions to depress loss due to bend. An optimal round area function and a particular solution for the lens are given. Through numerical computation, the generating curve is achived. The machining of the aspheric surface is finished, and an optimized perfect geodesic waveguide lens is developed. Measurements show that the lens has no spherical aberration across the total effective aperture of 8 mm, and for a 4 mm-width beam and a lens with 20 mm focal length, the width of the focus is about 4 μm.