A camera for a vehicle vision system includes a housing having a front housing portion with a lens barrel and lens assembly, and a rear housing portion with a connector. The front and rear housing portions are mated together to establish an inner cavity in the housing. An imager circuit board is disposed in the inner cavity of the housing, with an imager disposed at the imager circuit board and optically aligned with the lens assembly. When the front and rear housing portions are mated together, perimeter flanges of the front and rear housing portions may be curled to have multiple folds to seal the front housing portion relative to the rear housing portion. The imager circuit board may be held in the inner cavity by a spring element that urges the imager circuit board in a direction toward the lens assembly.