In this paper, a transform domain information hiding algorithm with visual security based on compressed sensing (CS) is proposed. To increase the security, an improved coupled map lattices is used for keystream and measurement matrix generation. To save the storage space, the semi-tensor product is applied to the measurement matrix. Using the image transform domain property, the compressed and encrypted image to be hidden is embedded into the high-frequency part of the carrier image through mathematical operations, and then the carrier image is inverted to finally form a visually secure image. Simulation results and performance analysis show that the designed information hiding scheme has better hiding effect and high security.