A compact, on-axis telephoto lens camera includes an arrangement of mirrors which receives incident light, and compresses and redirects the light, the arrangement having a primary mirror which receives the incident light, compresses and redirects the light toward a focal point of the primary mirror and has an opening defined at a central portion thereof, and a secondary mirror which receives light from the primary mirror and further redirects same. The camera also includes a cavity which extends into the camera from the opening of the primary mirror, aspheric lenses disposed at least partially within the cavity which receive the light from the multiple-mirror arrangement, and progressively expand and redirect the light received from the mirror arrangement, and an image sensor which receives the light from the aspheric lenses. The image sensor is disposed closely adjacent to the cavity such that a back focal length is substantially zero.