This paper reports a design scheme for a two-vision and two-light-path telecentric system based on machine vision. With a refractive prism as the boundary, the telecentric system is divided into two parts: the objective part and the eyepiece part. By adding and replacing the eyepiece, different optical magnifications are realized in the original system to ensure the applicability of telecentric systems in different situations. A double telecentric system with dual vision is designed. In the proposed system, the working distance is 130 mm, and the object fields of view are 40 mm and 80 mm, respectively. With an imaging chip SN5000A made by ON Semiconductor company, the optical magnifications are -0.275 and -0.1375, respectively. The system achieves low distortion (<0.1% in each field of view), high resolution (>0.3 at 105 lp/mm), and high telecentricity (<0.1°), and also meets other design requirements.