To address the issue that the output voltage and power of medium- and low-power wireless power transfer (WPT) systems cannot remain constant under coil misalignment, this paper proposes a single-switch WPT system with misalignment-tolerant characteristics. Based on a single-switch topology, the system combines the LCC-S and S-S compensation networks through an input-series and output-series connection, forming a simplified hybrid-compensated single-switch WPT topology. By exploiting the complementary output characteristics of the two compensation networks, a stable output voltage is achieved under varying mutual inductance conditions. To further enhance misalignment adaptability, a grid-type flat spiral (GFSP) coil is designed for the magnetic coupler. This coil configuration avoids magnetic flux cancelation during lateral displacement, while maintaining a consistent mutual inductance variation trend between the dual windings, thereby exhibiting strong tolerance to misalignment along the X-axis. The proposed system is validated through MATLAB/Simulink simulations and experiments on a 50 W prototype. The results demonstrate that the system maintains resonance and achieves zero-voltage switching (ZVS) of the power device under ±60 mm X-axis misalignment, with output voltage fluctuation below 4% and efficiency fluctuation below 3%, verifying the proposed system’s effectiveness in misalignment tolerance.