Abstract Terahertz (THz) imaging holds increasing importance across various scientific fields and practical applications due to its unique characteristics. However, achieving high sensitivity and high frame rates simultaneously remains a major challenge for most current THz imaging techniques. In this paper, we demonstrate an improved THz imaging system based on Rydberg-atom vapor, which converts THz waves into visible fluorescence. A high-sensitivity camera and a high-speed camera are used simultaneously to capture the visible fluorescence. Specifically, for a 0.55 THz source, a sensor with a minimum detectable power of 41.7 aW/μm² at 100 fps and 43 fW/μm² at 6000 fps has been achieved simultaneously, with an effective imaging area larger than 100 mm². To demonstrate the spectral properties, the measured spectrum of the emitted fluorescence is presented with a high resolution of 0.1 nm. The demonstrated system can promote the development of the Rydberg-atom vapor based THz imaging technique to practical THz imaging frontier applications.