Velocity map imaging inside an electrostatic quadrupole guide is demonstrated. By switching the voltages that are applied to the rods, the quadrupole can be used for guiding Stark decelerated molecules and for extracting the ions. The extraction field is homogeneous along the axis of the quadrupole, while it defocuses the ions in the direction perpendicular to both the axis of the quadrupole and the axis of the ion optics. To compensate for this astigmatism, a series of planar electrodes with horizontal and vertical slits is used. A velocity resolution of 35 m s(-1) is obtained. It is shown that signal due to thermal background can be eliminated, resulting in the detection of slow molecules with an increased signal-to-noise ratio. As an illustration of the resolving power we have used the velocity map imaging system to characterize the phase-space distribution of a Stark decelerated ammonia beam.