With the development of modern military technology, the requirements of airborne electro-optical search and tracking system are increasing on target detection and recognition. However, traditional off-axis three-mirror system couldn’t meet the requirements for reducing weight and compacting size in some circumstances. Based on Seidel aberration theory, by restricting the aberration functions, the optical system could achieve initial construction parameters. During the designing process, decenters and tilts of mirrors were adjusted continuously to eliminate the obscurations. To balance off-axis aberration and increase angle of view, the free-form mirror was introduced into the optical system. Then an unobstructed optical system with effective focal length of 100 mm, FOV of 16°×16°, and relative aperture as F/7 is designed. The results show that the system structure is compact, with imaging qualities approaching diffraction limit.