Monolithic beam-shaping optical systems and methods are disclosed for an optical coherence tomography (OCT) probe that includes a transparent cylindrical housing having asymmetric optical power. The system includes a transparent monolithic body having a folded optical axis and at least one alignment feature that supports the end of an optical fiber adjacent an angled planar end wall. The monolithic body also includes a total-internal reflection surface and a lens surface that define object and image planes. Light from the optical fiber end traverses the optical path, which includes the cylindrical housing residing between the lens surface and the image plane. Either the lens surface by itself or the lens surface and the reflective (eg, TIR) surface in combination are configured to substantially correct for the asymmetric optical power of the cylindrical housing, thereby forming a substantially rotationally symmetric image spot at the image plane.