The invention discloses a continuous zoom panoramic scanning system, which comprises a telescopic imaging system, wherein the telescopic imaging system is arranged in an object space and comprises a first lens group, a second lens group, a third lens group, a fourth lens group and a fifth lens group which are sequentially arranged along a light propagation direction; A sweep compensation lens group arranged at the exit pupil position of the telescope imaging system and used for compensating the image shift caused by the movement of the turntable; A secondary imaging system disposed in the image space, the entrance pupil of the secondary imaging system coinciding with the exit pupil of the telescopic imaging system, the secondary imaging system including a sixth lens group and a seventh lens group disposed sequentially in the light propagation direction; The cold diaphragm is arranged at the exit pupil position of the secondary imaging system and is used for completing the matching of the secondary imaging system. According to the invention, image space scanning is adopted, on the premise of meeting the imaging quality, a continuous zooming panoramic scanning system adopting only 11 lenses is obtained, so that the detection distance is greatly increased; and moreover, a cold diaphragm is adopted, so that the energy loss of a light beam is reduced, and the sensitivity of the system is improved.