A vehicular vision system includes a camera module configured to be disposed at a vehicle. An image processor processes multiple frames of image data captured by the imager of the camera module. With the camera module disposed at the vehicle, the heating device is activated to heat a lens of the camera module responsive to determination of lens occlusion at the lens. Responsive at least in part to determination of lens occlusion at the lens, and via processing of frames of captured image data while the heating device is activated, the vehicular vision system determines a change in degree of lens occlusion occurring between capture of a previous frame of captured image data and capture of a current frame of captured image data. The heating device is deactivated responsive to determination that the change in degree of lens occlusion is less than a threshold amount.