The single shot measurement of terahertz pulse is of great importance to the study of terahertz spectrum on ultra fast irreversible or single shot processes. A femtosecond pulse with tilted intensity front generated by using commercial grating are adopted as the probe beam for the measurement, in order to implement single shot measurement of terahertz pulses with low distortion and high frequency resolution. The time window is up to 20 ps and spectrum range covers from 0.1 THz to 2.5 THz. The result agrees well with that of the traditional electrical-optic sampling method. Analytical model for the single shot measurement of terahertz pulse using tilted pulse front technique is established, and some conclusions concerning the parameters preference of grating and optical system components, as well as optical design, are obtained.