To apply digital holography to the measurement of three-dimensional dense particle fields in large facilities, we have developed a hybrid digital holographic particle-imaging system. The technique combines the advantages of off-axis (side) scattering in suppressing speckle noise and on-axis (in-line) recording in lowering the digital sensor resolution requirement. A camera lens is attached to the digital sensor to compensate for the weak object wave from side scattering over a large recording distance. A simple numerical reconstruction algorithm is developed for holograms recorded with a lens without requiring complex and impractical mathematical corrections. We analyze the effect of image sensor resolution and off-axis angle on system performance and quantify the particle positioning accuracy of the system. The holographic system is successfully applied to the study of inertial particle clustering in isotropic turbulence.