Single-shot measurement of terahertz pulses is mainly used to rapidly measure the terahertz spectra during ultrafast irreversible processes. It has broad prospects for applications in protein denaturation, nuclear-explosion-simulation analysis, and other fields. The optical pulse from a femtosecond laser amplifier is divided into two beams and passes through two gratings to generate a tilted wavefront. One beam is used as the pump light to excite a lithium niobate crystal and generate a high-power terahertz wave based on the optical-rectification effect. The other beam is used as the probe light. We use the crossed and balanced detection method. After the terahertz pulses are generated, we implement a single-shot measurement of terahertz pulses using the proposed light paths. The time window of the system ranges up to 16.8 ps, and the spectral range is 0.1-1.6 THz.