Time-of-flight (ToF) imaging is an active method that utilizes a temporally modulated light source and a correlation-based (or lock-in) imager that computes the round-trip travel time from source to scene and back. Much like conventional imaging ToF cameras suffer from the trade-off between depth of field (DOF) and light throughput-larger apertures allow for more light collection but results in lower DoF. This trade-off is especially crucial in ToF systems since they require active illumination and have limited power, which limits performance in long-range imaging or imaging in strong ambient illumination (such as outdoors). Motivated by recent work in extended depth of field imaging for photography, we propose a focal sweep-based image acquisition methodology to increase depth-of-field and eliminate defocus blur. Our approach allows for a simple inversion algorithm to recover all-in-focus images. We validate our technique through simulation and experimental results. We demonstrate a proof-of-concept focal sweep time-of-flight acquisition system and show results for a real scene. © 2016 IEEE.