A transient image is the optical impulse response of a scene, which also visualizes the propagation of light during an ultra-short time interval. In contrast to the previous transient imaging which samples in the time domain using an ultra-fast imaging system, this paper proposes transient imaging in the frequency domain using a multi-frequency time-of-flight (ToF) camera. Our analysis reveals the Fourier relationship between transient images and the measurements of a multi-frequency ToF camera, and identifies the causes of the systematic error-non-sinusoidal and frequency-varying waveforms and limited frequency range of the modulation signal. Based on the analysis we propose a novel framework of frequency-domain transient imaging. By removing the systematic error and exploiting the harmonic components inside the measurements, we achieves high quality reconstruction results. Moreover, our technique significantly reduces the computational cost of ToF camera based transient image reconstruction, especially reduces the memory usage, such that it is feasible for the reconstruction of transient images at extremely small time steps. The effectiveness of frequency-domain transient imaging is tested on synthetic data, real data from the web, and real data acquired by our prototype camera.