Proton beam therapy is the current state of the art for irradiation of cancerous tumors near vital organs. Proton imaging is a new technology that images tumors with the same particle interaction as proton therapy, promising more accurate treatment preparation compared to traditional computerized tomography scans. A specific proton imaging technique in development at Massachusetts General Hospital requires an energy modulator that can fit inside the gantry nozzle. This work presents the design of a compact proton beam energy modulator required for such imaging applications. A combination of steel and lead wedges was used to create a balanced modulation wheel, with an axis of rotation perpendicular to the incident beam. The mechanical design also allows interchangeable disks and precise position control. The modulator design was verified by testing on a proton beam line. The final device achieved a wide range of energy modulation (21 cm water-equivalent thickness) while maintaining a constant exiting beam angular spread meeting device requirements. This compact design facilitates proton imaging to be practically incorporated into future gantry systems, which will advance proton treatment for tumors near vital organs.