A pixel light headlamp for a vehicle may include a light source module, a digital micro-mirror device (DMD) optical system, an imaging lens module, wherein the condenser lens includes a first condenser lens disposed between the light source and the phosphor and second and third condenser lenses which are disposed on a path through which light emitted from the first condenser lens is incident on the DMD chip; the second condenser lens is disposed to face the phosphor; the third condenser lens is disposed to be distanced from the second condenser lens such that it is not overlapped with a moving path of light emitted from the phosphor; and the light source and the first condenser lens as well as the DMD chip and the imaging lens module are configured to tilt with respect to a lens housing.