Coherent imaging in the THz range promises to exploit the peculiar capabilities of these wavelengths to penetrate common materials like plastics, ceramics, paper or clothes with potential breakthroughs in non-destructive inspection and quality control, homeland security and biomedical applications. Up to now, however, THz coherent imaging has been limited by time-consuming raster scanning, point-like detection schemes and by the lack of adequate coherent sources. Here, we demonstrate real-time digital holography (DH) at THz frequencies exploiting the high spectral purity and the mW output power of a quantum cascade laser combined with the high sensitivity and resolution of a microbolometric array. We show that, in a one-shot exposure, phase and amplitude information of whole samples, either in reflection or in transmission, can be recorded. Furthermore, a 200 times reduced sensitivity to mechanical vibrations and a significantly enlarged field of view are observed, as compared to DH in the visible range. These properties of THz DH enable unprecedented holographic recording of real world dynamic scenes.