Videoendoscope designs are provided including an objective and image sensor, preferably in the distal region, the image sensor having a micro-lens array with micro-lens offsets designed for a designated chief ray angle. The scope further includes a lens group having negative optical power optically arranged adjacent to the image sensor. The negative optical power serves to modify the chief ray angle characteristic of the lens group to more closely match that required by the image sensor and micro-lens array. Some designs include a non-linear distortion in the second lens group to compensate for non-linearly varying offsets in the sensor micro-lenses. Various lens group designs and sensor arrangements are provided.