The terahertz (THz) vortex beam generators are designed and theoretically investigated based on single-layer ultra-thin transmission metasurfaces. Noncontinuous phase changes of metasurfaces are obtained by utilizing Pancharatnam–Berry phase elements, which possess different rotation angles and are arranged on two concentric rings centered on the origin. The circularly polarized incident THz beam could be turned into a cross-polarization transmission wave, and the orbital angular momentum (OAM) varies in value by lℏ. The l values change from ± 1 to ± 5, and the maximal cross-polarization conversion efficiency that could be achieved is 23%, which nearly reaches the theoretical limit of a single-layer structure. The frequency range of the designed vortex generator is from 1.2 THz to 1.9 THz, and the generated THz vortex beam could keep a high fidelity in the operating bandwidth. The propagation behavior of the emerged THz vortex beam is analyzed in detail. Our work offers a novel way of designing ultra-thin and single-layer vortex beam generators, which have low process complexity, high conversion efficiency and broad bandwidth.