Dual-wavelength in-line-and-off-axis hybrid digital holography (iohDH) can achieve high-resolution holographic dynamic imaging. However, it requires the prediction of the diffraction distance and the complex amplitude of the reference beam, which is time consuming and results in complications and accuracy limitations. While telecentric imaging technique can obtain nondiffractive images without predicting the diffraction distance, it also can even eliminate spherical aberration and astigmatic aberration. Therefore, a dual-wavelength telecentric iohDH is proposed to realize non-prior high-resolution reconstruction in a single shot. Employing the dual-wavelength telecentric iohDH, our approach acquires the focused in-line-and-off-axis hologram using a color camera in a single shot. In this case, we perform wavelength conversion on the phase and low-frequency information about the off-axis hologram as constraints for in-line iteration. Then, the in-line amplitude constraints are performed in the spatial and frequency domains until the algorithm converges. Compared to the state-of-the-art dual-wavelength iohDH, our approach can streamline the reconstructed processes without demanding a priori information of the diffraction distance and the complex amplitude of the reference beam. More importantly, our approach enables higher quality and efficient reconstruction under the telecentric system. We verified our approach using simulations and experiments, and the results indicate that our approach can allow the amplitude and phase reconstruction with high resolution in a single shot.