The holographic waveguide used in near-eye display technology is usually planar, making it difficult to fit the user's head. Although the holographic waveguide with a curved surface can better fit the curve of the user's head, its design is very difficult owing to the complex light transmission process in the waveguide. To establish the imaging design method of a curved holographic waveguide, the key transmission process of light in a curved holographic waveguide is analyzed, the ray-tracing mathematical model suitable for a curved holographic waveguide is proposed, and the ray-tracing algorithm for the light transmission process in a curved holographic waveguide is established. Then, the design of the curved holographic waveguide is realized. Based on the algorithm, the optical systems of spherical and cylindrical surface holographic waveguides are designed and the ray-tracing simulation is performed. According to the design results, the cylindrical curved holographic waveguide elements are fabricated and demonstrated in the optical system. The observation results verify the feasibility of the proposed method.