A camera module for a vehicle vision system for a vehicle includes a camera fixedly disposed at an exterior portion of a vehicle so as to have a field of view exterior of the vehicle. A transparent cover element includes an at least partial cylindrical element that at least partially surrounds the camera with a portion of the transparent cover element disposed in front of a lens of the camera. At least one wiping element engages an exterior surface of said transparent cover element. The transparent cover element is rotatable relative to the camera about a longitudinal axis of the transparent cover element to move portions of the transparent cover element across the at least one wiping element to clean dirt or contaminants from the transparent cover element.