Zero-knowledge proof is a powerful cryptographic primitive that has found various applications in the real world. However, existing schemes with succinct proof size suffer from a high overhead on the proof generation time that is super-linear in the size of the statement represented as an arithmetic circuit, limiting their efficiency and scalability in practice. In this paper, we present Orion, a new zero-knowledge argument system that achieves $O(N)$ prover time of field operations and hash functions and $O(\log^2 N)$ proof size. Orion is concretely efficient and our implementation shows that the prover time is 3.09s and the proof size is 1.5MB for a circuit with $2^{20}$ multiplication gates. The prover time is the fastest among all exist...