In this paper, we propose a new gel-type biomimetic variable-focus lens system. The miniaturization of conventional lens system is limited due to the use of a set of glass lenses for adjusting the focal length. Biologically inspired by the focus adjustment mechanism of the human eye, a gel-type single lens system with variable-focus is presented. The proposed system consists of a gel-type lens, mechanical parts such as body, rotation ring, and winding-type SMA actuator. In addition, the proposed system is designed to operate with a simple and miniaturized mechanical structure using a new attachment and driving mechanism. The focusing performance of the proposed system is verified through a series of experiments and measurements of the shape of the lens using tomography.