A camera for a vision system of a vehicle includes a housing having a front housing portion and a rear housing portion. The camera is configured to be disposed at a vehicle so as to have a field of view interior or exterior of the vehicle. The front housing portion houses a lens assembly. The rear housing portion has a connector portion for electrically connecting circuitry of the camera to an electrical connector of the vehicle when the camera is disposed at the vehicle. The circuitry of the camera includes an imager comprising an imaging array having a plurality of photosensing elements. The rear housing portion has circuitry and electrically connecting elements established via molded interconnect device (MID) technology.