A vision system of a vehicle includes a camera disposed at an exterior portion of a vehicle and having a field of view exterior of the vehicle. The camera has a camera housing and a lens. A cover element is removably disposed at the camera. The cover element includes a curved transparent portion and a mounting portion. The curved transparent portion of the cover element, when the cover element is disposed at the camera, protects the lens so that the lens is not exposed to the environment external the vehicle. The cover element may be configured to be fixedly mounted at the exterior portion of the vehicle, such that the camera is removably mounted at the vehicle by detachable attachment at the cover element.