Exploitation of surface plasmonic devices (SPDs) in the terahertz (THz) band is always beneficial for broadening the application potential of THz technologies. To clarify features of SPDs, a practical characterization means is essential for accurately observing the complex field distribution of a THz surface wave (TSW). Here, a THz digital holographic imaging system is employed to coherently exhibit temporal variations and spectral properties of TSWs activated by a rectangular or semicircular slit structure on metal foils. Advantages of the imaging system are comprehensively elucidated, including the exclusive measurement of TSWs and fall-off of the time consumption. Numerical simulations of experimental procedures further verify the imaging measurement accuracy. It can be anticipated that this imaging system will provide a versatile tool for analyzing the performance and principle of SPDs.