By using the retrofocus structure with a “negative-positive” form as the initial structure, we design an electronic endoscope objective (EEO) optical system with Q-type aspheres working in the visible light band, whose total field of view is 110°, focal length is 1 mm, F number is 3.3, maximum clear aperture is 3 mm, and total length is 7.89 mm. The optical system is composed of six pieces of lenses, including two cemented doublet and one lens with Q-type aspheres of both sides. The design results show that the modulation transfer function (MTF) values are higher than 0.4 at Nyquist spatial frequency of 143 lp/mm, which is approaching the diffraction limit. For validating superiority of Q-type aspheres in EEO system design, an EEO system is designed with power series (PS) aspheres in the same computing platform and with the same structure parameters. The comparison results show that Q-type aspheres have stronger ability to correct the aberration of the system, and they are helpful to improve the efficiency of system optimization. The aspheric departure between the designed Q-type aspheres and their closest spheres is very little, which is beneficial to enhance the detection precision and working efficiency of aspheric optical components, and the cost can be reduced. The designed EEO system with Q-type aspheres has lower assembly sensitivity, which helps to improve the system assembly efficiency.