Disclosed herein are a system and corresponding method for sensing terahertz radiation. The system collects terahertz radiation scattered from a target and upconverts the collected radiation to optical frequencies. A frequency-domain spectrometer senses spectral components of the upconverted signal in parallel to produce a spectroscopic measurement of the entire band of interest in a single shot. Because the sensing system can do single-shot measurements, it can sense moving targets, unlike sensing systems that use serial detection, which can only be used to sense stationary objects. As a result, the sensing systems and methods disclosed herein may be used for real-time imaging, including detection of concealed weapons, medical imaging, and hyperspectral imaging.