A compact terahertz (THz) imaging system based on complementary compressive sensing has been proposed using two single-pixel detectors. By using a mechanical spatial light modulator, sampling in the transmission and reflection orientations was achieved simultaneously, which allows imaging with negative mask values. The improvement of THz image quality and anti-noise performance has been verified experimentally compared with the traditional reconstructed image, and is in good agreement with the numerical simulation. The demonstrated imaging system, with the advantages of high imaging quality and strong anti-noise property, opens up possibilities for new applications in the THz region.