This Letter proposes a holographic cylindrical vector beam converter (HCVBC) design that incorporates a continuously polarization-selective volume hologram circular-grating. A specially designed truncated cone prism is adopted for recording, which is conducted with a single incident, expanded, radially polarized beam. A prototype of this HCVBC was recorded and tested successfully. This design has the advantages of high diffraction efficiency, a narrow band, compactness, and planar configuration; thus, it is especially suitable for low-cost mass production and has high potential for application in related fields.