Aiming at the problem that the airborne-mapping cameras will be out of focus under different action distances, which will reduce the imaging resolution and thus lead to the reduction of the mapping accuracy, a method of compensating for defocusing on the focal plane by moving the focusing lens back and forth was adopted. However, the movement of the focusing lens will inevitably result in changes in the interior orientation elements, also leading to a decrease in mapping accuracy. To address this derivative problem, a calibration model for the interior orientation elements of the airborne-mapping cameras with dynamic optical element focusing was established using a polynomial fitting method. Through the analysis of the calibration model data, the fitting degree of the calibration model fitting curve was 0.99933, and the maximum residual was 1.72 μm. Furthermore, by discrete sampling of the calibration model, the parameters of the interior orientation elements at different working distances can be obtained, thereby achieving high-precision calibration of the interior orientation elements within the full focusing range of the airborne-mapping cameras, and improving its environmental adaptability. Finally, flight calibration tests were conducted, and the test results were very close to the theoretical values, confirming the accuracy of the proposed method of dynamic optical element focusing combined with polynomial curve fitting for the calibration of interior orientation element. In conclusion, the calibration method of interior orientation elements is expected to be applied to various high-precision airborne-mapping cameras.