A 10 bit fully differential dual slope Analog-to-Digital Converter (ADC) for Time Delay Integration (TDI) CMOS image sensors is realized based on column-parallel single-slope ADC. Top plates of the two capacitors are used for sampling differential inputs, and the bottom plates are connected to ramp generator for conversion. Current steering is used to generate the rising and falling ramp with the same step voltage simultaneously. The proposed ADC is fabricated in SMIC 0.18 μm CMOS process. Simulated spurious free dynamic range and effective number of bits are 87.92 dB and 9.84 bit with the input frequency of 1.32 kHz at 19.49 kS/s sampling rate, respectively. Measured results show that the ADC has a differential nonlinearity of –0.7/+0.6 LSB and integral nonlinearity of –2.6/+2.1 LSB.