A vision system of a vehicle includes a camera receiving socket fixedly disposed at an exterior portion of a vehicle. The camera receiving socket includes a socket electrical connector that is electrically connected to a wire harness of the vehicle. A camera assembly includes a lens and imager and associated circuitry, and includes a camera body that is configured to removably attach at the camera receiving socket. The camera assembly includes a camera electrical connector electrically connected to the circuitry. When the camera body is attached at the camera receiving socket, the camera body mechanically attaches at the camera receiving socket to detachably retain the camera assembly at the vehicle and the camera electrical connector is electrically connected to the socket electrical connector. When the camera body is detachably attached at the camera receiving socket, the camera assembly has a field of view exterior of the vehicle.