A snapshot full-Stokes division-of-aperture imaging polarimeter using a Wollaston prism array (WPA) is theoretically described and experimentally demonstrated. Two-dimensional spatial distributions of six polarization eigenstates, linear (0°, 90°, 45°, 135°), and left and right circular polarization states, are identified and separated by the WPA simultaneously and projected onto the six portions of a single focal-plane array by a lens array. The conditions of the measurement matrix formed by the six polarization modulation channels are naturally superior for immunity to Gaussian and Poisson noise. The unique properties of the WPA, such as its high extinction ratio, optical efficiency and transmittance, can further ensure the achievement of immunity. The snapshot principle and the conditions of the measurement matrix are discussed. A proof-of-concept system using a complementary metal oxide semiconductor (CMOS) sensor for visible light is built and validated using laboratory and outdoor measurements.