A compact touchless 3D fingerprint acquisition system was proposed in this paper. The system utilizes a single CCD camera as an image sensor and combines the CCD with a biprism to obtain stereo image pairs in one frame of the CCD. Then 3D fingerprint is established based on the stereo vision technique. The entire size of the compact encapsulated system is 12 mm×12 mm×10 mm. The experiment of a forefinger fingerprint acquisition was conducted based on this system and the measurement root mean square error is 0.022 mm. This work is expected to provide a miniaturized solution for 3D fingerprint acquisition with its easy operation and compact structure.