A multi-channel fiber optic rotary joint (FORJ) includes an external housing, a stationary collimator array, a rotating collimator array, an all-reflective de-rotating prism and a gear ratio. The external housing contains an internal cavity having a longitudinal rotation axis. The stationary collimator array is affixed to the external housing approximate a first end of the internal cavity. The rotating collimator array is rotatably attached to the external housing approximate a second end of the cavity. The second end of the cavity is opposite the first end of the cavity. The rotating collimator array is configured to rotate about the rotation axis. The de-rotating prism is located along the rotation axis within the internal cavity between the stationary collimator array and the rotating collimator array. The prism is retained in a prism housing, which is rotatably attached to the external housing and the prism housing is configured to rotate about the rotation axis.