A unified description of the free-space cylindrical vector beams is presented, which is an integral transformation solution to the vector Helmholtz equation and the transversality condition. The amplitude 2-form of the angular spectrum involved in this solution can be arbitrarily chosen. When one of the two elements is zero, we arrive at either transverse-electric or transverse-magnetic beam mode. In the paraxial condition, this solution not only includes the known $J_1$ Bessel-Gaussian vector beam and the axisymmetric Laguerre-Gaussian vector beam that were obtained by solving the paraxial wave equations, but also predicts two new kinds of vector beam, called the modified-Bessel-Gaussian vector beam.