A high efficient, compact, Refractive/Total internal reflection/Reflective/Refractive (RIXR) collimating system was designed and optimized to collect a wide angle range light to emit the collimating beam with a small divergence angle. Firstly, the surface of the initial structure of the system was calculated according to the edge-ray principle and Simultaneous Multiple Surfaces (SMS) method based on the non-imaging optics theory. Then, the initial structure was optimized by using Zemax optical design software. Finally, the best LED collimating system was successfully designed. According to the results of the design, the semi-diameter of the RIXR collimating system is 20 mm, aspect ratio is 0.25 and its collection angle is 200°. These results indicate that the system can completely collect the light emitted by LED sources. As the root mean square radius of a spot diagram for the edge field (± 3.178°)obtained by the reverse ray tracing is less than 2.1 μm, the edge field shows an excellent focusing effect.Furthermore, when the light absorption loss of the material and reflection loss of the interface are fully considered, the light energy utilization rate is as high as 83.48%. Experiments demonstrate that the RIXR-type collimating system has advantages in a compact structure, high light energy utilization ratio and easy to use.