A vehicular camera system includes an attaching structure configured to attach at an in-cabin side of a vehicle windshield. A camera module accommodates a circuit board and an imager and the camera module includes a lens aligned with the imager. The attaching structure includes a camera module receiving portion having an opening at a lower portion of the camera module receiving portion. With the attaching structure attached at the in-cabin side of the vehicle windshield, the camera module is inserted upward through the opening and is at least partially received in the camera module receiving portion to attach the camera module at the camera module receiving portion. With the attaching structure attached at the in-cabin side of the vehicle windshield and with the camera module at least partially received in the camera module receiving portion, the imager views through the vehicle windshield and forward of the vehicle.