The physical meaning and essence of Fresnel numbers are discussed, and two definitions of these numbers for offaxis optical systems are proposed. The universal Fresnel number is found to be N=(a2/λz)*C1+C2. The Rayleigh–Sommerfeld nonparaxial diffraction formula states that a simple analytical formula for the nonparaxial intensity distribution after a circular aperture can be obtained. Theoretical derivations and numerical calculations reveal that the first correction factor C1 is equal to cosθ and the second factor C2 is a function of the incident wavefront and the shape of the diffractive aperture. Finally, some diffraction phenomena in off-axis optical systems are explained by the off-axis Fresnel number.