A method of generating cylindrical vector beams based on metasurface is presented in this paper. The metasurface is a fused silica with a space-variant non-periodic grating which is written by laser. The non-periodic grating induces a space-variant effective birefringence that modulates the space distribution of polarization state. It is shown that an incident linearly polarized light can be converted to a cylindrical vector beam by the method of Jones matrix. We can obtain an arbitrary cylindrical vector beam on the equator of the higher-order Poincaré sphere. A simple and efficient experimental system is established with a metasurface. Experimental results are in agreement with the theoretical analysis.