In this paper, an optical scanning imaging system based on a single cylindrical lens rotation modulation was proposed. The complete wavefront information of the sample could be iteratively reconstructed by intensity patterns of the rotational modulation of the cylindrical lens. In addition, as a key parameter of the system, rotation angles of cylindrical lens were obtained by numerical calculation method based on the Radon transform, which got rid of the requirements for high-precision rotating equipment. Both the simulation and experimental results have verified the feasibility of the method. Compared with the axial multi-distance scanning imaging system, all optical components in the imaging system remain fixed in the axial position, so the data acquisition speed is accelerated and the axial sampling rate is kept fixed. It not only simplifies the algorithm design in the light field reconstruction, but also greatly speeds up the convergence speed.