We demonstrate the successful development of refractive lenses made of ZBLAN fluoride glass using the hot embossing technique. Synthesized in-house ZrF₄-BaF2-LaF₃-AlF₃-NaF glass is thermally stable and has high transmission in the range of 0.4–8.0 µm. A lens was formed with a brass stamp inside a resistant furnace under standard atmosphere conditions. No mechanical or chemical postprocessing is used to obtain the optical quality of the lens surface. As a proof-of-concept, we have developed plano-convex lenses with a diameter of 10 mm and f#=3. The tested lenses have good imaging properties with a resolution of 23 pl/mm and 8 pl/mm for 1.5 µm laser and broadband thermal source emitting in the mid-infrared range, respectively.