An endoscope is provided having a shaft and an optical system disposed in the shaft. The optical system defines an optical path. The optical system includes a first relay lens and a first meniscus lens positioned in the optical path and between an intermediate image plane and the first relay lens. In one embodiment, a second relay lens and a second meniscus lens, the first relay lens and the first meniscus lens residing on a first side of the intermediate image plane, and the second relay lens and the second meniscus lens residing on a second side of the intermediate image plane, wherein the first and second sides of the intermediate image plane are opposing sides.