In this paper, the optical properties of a miniature telecentric camera are studied analytically and experimentally. By means of optical properties, the luminous intensity of retro-reflection of a miniature telecentric optical system is investigated. First, from a simulation the theoretical value of the coefficient of luminous intensity of retro-reflection of a miniature telecentric system is estimated. Second, a miniature telecentric camera device is designed, and the value of the coefficient of luminous intensity of retro-reflection of the actual device is measured through experiment. From simulation and experiment, we found that both the estimated and observed values of the coefficient of luminous intensity of retro-reflection range from 0.002 to 0.03 m