A large field of view Unmanned Aerial Vehicle (UAV) camera imaging system, named curved compound eye camera for the small UAV, was designed. The system consists of three subsystems, a cured microlens arrays, an optical transformation subsystem, and a data processing unit with image sensors. The designed compound camera has a focal length of 4 mm, a F number of 4, and a field of view is 106°, which makes it can resolve the ground target with a feature size of 0.5 m at an altitude of 500 m. In the design, lenslets with a doublet form were used in curved compound eye to eliminate the optical abberations. Since there is an overlap in field of view for neighboring lenslets, lenslets as much as of 7 can view the same target at the same time from different view angles, which allows the object location and speed measurement. The simulation results show that the image quality of the entire compound eye camera system meets the requirements with an acceptable tolerance, and the maximum optical distortion can be controlled under 1.2%.