Vector optical field has recently gained interest in a variety of application fields due to its novel characteristics. Conventional approaches of generating vector optical fields have difficulties in forming highly continuous polarization and suffer from the issue of high energy utilization rates. In order to address these issues, in this study a single optical path was proposed to generate vector optical fields where the birefringent phase plate modulated a linear polarized light into a vector optical field, which was then demodulated to a non-uniform linear polarization distribution of the vector optical field by the polarization demodulation module. Both a theoretical model and numerical simulations of the vector optical field generator were developed, illustrating the relationship between the polarization distribution of the target vector optical field and the depth distribution of the birefringent phase plate. Furthermore, the birefringent phase plate with predefined surface distributions was fabricated by grayscale exposure and ion etching. The generated vector optical field was experimentally characterized, capable of producing continuous polarization with high light energy utilization ratio, consistent with simulations. This new approach may have the potential of being widely used in future studies of generating well-controlled vector optical fields.