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 having circuitry disposed at both sides of the circuit board. An imager is disposed at a first side of the circuit board. The camera module includes a lens accommodated in a lens barrel. With the attaching structure attached at the in-cabin side of the vehicle windshield, and with the camera module attached at the attaching structure, the lens barrel protrudes from the casing and a portion of the lens barrel is partially disposed in a pocket defined by the stray light shield and the vehicle windshield. A coaxial connector is electrically connected to circuitry disposed at the second side of the circuit board. Image data captured by the camera module is transferred to an electronic control unit of the vehicle via the coaxial connector.