With the rapid development of the one-stationary bistatic forward-looking synthetic aperture radar (OS-BFSAR) technology, the huge amount of the remote sensing data presents challenges for real-time imaging processing. In this paper, an efficient time-domain algorithm (ETDA) considering the motion errors for the OS-BFSAR imaging processing, is presented. This method can not only precisely handle the large spatial variances, serious range-azimuth coupling and motion errors, but can also greatly improve the imaging efficiency compared with the direct time-domain algorithm (DTDA). Besides, it represents the subimages on polar grids in the ground plane instead of the slant-range plane, and derives the sampling requirements considering motion errors for the polar grids to offer a near-optimum tradeoff between the imaging precision and efficiency. First, OS-BFSAR imaging geometry is built, and the DTDA for the OS-BFSAR imaging is provided. Second, the polar grids of subimages are defined, and the subaperture imaging in the ETDA is derived. The sampling requirements for polar grids are derived from the point of view of the bandwidth. Finally, the implementation and computational load of the proposed ETDA are analyzed. Experimental results based on simulated and measured data validate that the proposed ETDA outperforms the DTDA in terms of the efficiency improvement.