A compact wedge prism scanner for laser surface cleaning is proposed, wherein the concept of system was studied based on geometric analysis. The final equations for the design express the transposition of the laser beam focal point and scanning radius. The results were verified through comparisons to both Zemax simulation and experiments. There was satisfactory agreement between the equations and Zemax simulation, but slight disagreement with the experiments. Additionally, two main factors of wedge prism scanner in commercial laser removal applications (circumferential overlap and spot overlap) was also discussed and the completely corrosion removal experiment indicated the potential use of our scanner.