We present an analytical treatment of gravitational lensing by a Kerr black hole in the weak deflection limit. Lightlike geodesics are expanded as a Taylor series up to and including third-order terms in m/b and a/b, where m is the black hole mass, a the angular momentum and b the impact parameter of the light ray. Positions and magnifications of individual images are computed with a perturbative analysis. At this order, the degeneracy with the translated Schwarzschild lens is broken. The critical curve is still a circle displaced from the black hole position in the equatorial direction and the corresponding caustic is point-like. The degeneracy between the black hole spin and its inclination relative to the observer is broken through the angular coordinates of the perturbed images.