The invention relates to a millimeter-wave imaging system for the omni-directional scanning of a single antenna array. The millimeter-wave imaging system comprises an antenna array disc bracket, a sliding rail, a drive disc, two metal struts, a servo control module, a frequency synthesis module, a transmitting module, a transmitting antenna array, a receiving antenna array, a receiving module, a delay module, a signal processing module and a display control modules, wherein the servo control module controls a drive shaft of a motor to rotate at a sinusoidal velocity, and controls and detects the rotation angle of the antenna array disc bracket, so that the antenna array disc bracket rotates at an angle of 0-300 degrees; the transmitting antenna arrays radiate radio-frequency signals to the surface of a target, and after being reflected by the surface of the target, the radio-frequency signals are received by the receiving antenna arrays; echo signals are processed by the receiving module so as to form intermediate-frequency echo signals, and then the intermediate-frequency echo signals are sent to the signal processing module; and the intermediate-frequency echo signals are performed three-dimensional imaging processing in the signal processing module so as to obtain three-dimensional image data, and then the three-dimensional image data is transmitted to the display control module. The system provided by the invention has the advantages of simple design, low cost, high image quality, high resolution and short imaging time.