A vehicular camera module includes a housing and an imager assembly having an imager, an imager circuit board and a lens holder. The imager is disposed at the imager circuit board. The lens holder includes a lens holding portion and an attaching portion, with the lens holding portion accommodating a lens. The attaching portion of the lens holder includes a plurality of pins that, when the attaching portion is mated with the circuit board, are received at least partially through apertures of the imager circuit board. With the pins received at least partially through the apertures, and with the lens focused and optically aligned with the imager at the imager circuit board, the pins are soldered at the imager circuit board so as to fixedly attach the lens holder at the imager circuit board to form the imager assembly. The imager assembly is attached at the housing.