A vehicle vision system includes a camera module including an image sensor array, a lens holder and a lens. The camera module is configured to mount at a receiving structure at an interior surface of a vehicle windshield of a vehicle. When the camera module is mounted at the receiving structure of the interior surface of the vehicle windshield, the image sensor array views forward of the vehicle and through the vehicle windshield. The image sensor array is established at a circuit element. The lens holder includes a lens holding portion and an attaching portion, with the lens holding portion accommodating the lens and the attaching portion configured to attach at the circuit element. The attaching portion of the lens holder includes a plurality of pins configured to be received at least partially through apertures of the circuit element so as to be soldered at the circuit element.