A folded resonator requires an oblique angle of incidence on the folded curved mirror, which introduces astigmatic distortions that limit the performance of the lasers. We present a simple method to compensate the astigmatism of folded resonator without Brewster windows for the first time to the best of our knowledge. Based on the theory of the propagation and transformation of Gaussian beams, the method is both effective and reliable. Theoretical results show that the folded resonator can be compensated astigmatism completely when the following two conditions are fulfilled. Firstly, when the Gaussian beam with a determined size beam waist is obliquely incident on an off-axis concave mirror, two new Gaussian beam respectively in the tangential and sagittal planes are formed. Another off-axis concave mirror is located at another intersection point of the two new Gaussian beams. Secondly, adjusting the incident angle of the second concave mirror or its focal length can make the above two Gaussian beam coincide in the image plane of the second concave mirror, which compensates the astigmatic aberration completely. A side-pumped continues-wave (CW) passively mode locked Nd:YAG laser was taken as an example of the astigmatically compensated folded resonators. The experimental results show good agreement with the theoretical predictions. This method can be used effectively to design astigmatically compensated cavities resonator of high-performance lasers.