A camera for a vision system of a vehicle includes a lens accommodated in a lens barrel, a front camera housing and a rear camera housing. An imager is disposed at a printed circuit board, and a spring-biased electrical connector is disposed at the rear camera housing. The electrical connector includes an inner terminal and an outer terminal for connecting to respective ones of an inner contact and an outer contact at the printed circuit board. As the rear camera housing is moved into engagement with the front camera housing, the inner and outer terminals engage with the inner and outer contacts and compress towards a compressed state and, after the rear camera housing is attached at the front camera housing, are in spring-biased electrical connection with the inner and outer contacts at the printed circuit board.