Augmented reality head-up display (AR-HUD) using diffractive waveguide is a challenging research field. It can drastically reduce the system volume compared with AR-HUD based on freeform mirror. However, one of the remaining challenges that affects the performance of the diffractive waveguide is to expand the eye-box while maintaining the illuminance uniformity. In this paper, a one-dimensional pupil expansion diffractive optical waveguide system for AR-HUD is presented. The optimization of grating parameters is based on scalar diffraction theory and rigorous coupled wave analysis (RCWA). Then, the illuminance uniformity is optimized through non-sequential ray tracing. We simulate and construct a waveguide-based AR-HUD. The presented AR-HUD realized an exit pupil size of 80 mm × 15 mm and a field of view of 10° × 5° at the wavelength of 532 nm.