In this Letter, a novel and compact freeform off-axis three-mirror imaging system and its detailed design method are proposed. The primary mirror and tertiary mirror of the system have the same surface analytical expression and they are integrated on one single freeform surface. In this way, the alignment process is made much easier due to the much fewer degrees of freedom. In addition, the difficulty and cost for the data handling, fabrication, and testing of the freeform surfaces and system can also be significantly reduced in some cases, especially compared with the configuration having multiple surfaces of different expressions integrated on one monolithic substrate. The final system has a 100 mm effective focal length and a 4°×3° field of view. The modulation transfer function of the system is close to the diffraction-limit.