Endoscopic telecentric apparatus is a precision measuring instrument which consists of optical, mechanical and electrical technologies. It can be applied in real-time accurate test to detect the position, shape and wall surface defects of brake master cylinder. This paper designed an optical system with Zemax, it can be used in endoscopic telecentric apparatus. The system has 4mm linear field of view, the line of vision is 90°,the magnification is 0.75×,the depth of field is 6mm.The value of modulation transfer function (MTF) is close to the diffraction limit, the resolution of the system is up to 3 and the spot diagrams of all configurations are smaller than Airy disk, the total track is less than 300mm. It adopts 1/6CCD to receive image, the measurement accuracy reaches to 0.03mm.The system uses pentagonal prism to realize 90°line of vision, it is convenient to assemble and avoids the mirror image. The image quality is good and the design meets the requirement.