At present, concentric multi-scale systems generally suffer from an unstable image plane of the sub-camera. This problem directly leads to image misalignment in subsequent image stitching, which seriously affects the imaging quality of systems. In response to this problem, this paper proposes a method based on the image-side telecentric optical path to improve the image plane stability of the sub-camera and reduce the pressure from the subsequent image stitching. The paper firstly explores the reason for misalignment and then analyzes the benefits of using the image-side telecentric optical path in the concentric multi-scale systems. Finally, it designs a concentric multi-scale imaging system based on the image-side telecentric optical path with good imaging performance. The imaging system has a focal length of 60 mm, an F number of 3, a telecentricity of less than 0.2 mrad, and the total field of view of 70°. The defocused spot radius in each field of view is smaller than the pixel size of the selected detector, and the modulation transfer function (MTF) of each field of view is greater than 0.6 at the Nyquist frequency of 108 lp/mm. The concentric multi-scale imaging system with the image-side telecentric structure can improve the image plane stability of the sub-camera from the aspect of optical structure, thereby improving the quality and efficiency of subsequent image stitching. This paper also provides more ideas and technical approaches for the future design of concentric multi-scale systems, having important theoretical and practical significance.