We demonstrated a single-shot measurement of terahertz temporal waveform using pulse-front tilting by a direct vision dispersion prism (DVDP). An advantage of this technique is the simplicity with which an electro-optic terahertz imaging optical system can be changed into a single-shot measurement system by inserting a DVDP in the probe beam path. In this technique, control of the angle of pulse-front tilting is very important. We precisely designed DVDP and measured the angle of the pulse-front tilting by interference measurement. We obtained a terahertz temporal waveform with a single shot with a time window of 3.2 ps.