A method is described to produce off-axis hologram lenses without astigmatism for semiconductor lasers. We fabricated a holographic collimating lens by using dichromated gelatin film with high diffraction efficiency and without astigmatism which makes a collimated off-axis beam of semiconductor laser. We have designed the holographic collimating lens by applying the classical ray-tracing method to holographic diffraction. The elimination of astigmatism is obtained by choosing appropriate angles of recording and reconstruction beams. The hologram is recorded by use of Ar^{+}$ laser (488nm wavelength) and reconstructed by semiconductor laser(670nm wavelength). The physical parameters of recording and reconstruction angles, wavelength, and astigmatism are analytically calculated and experimentally confirmed.