The detection of ensembles of spins under ambient conditions has revolutionized the biological, chemical, and physical sciences through magnetic resonance imaging and nuclear magnetic resonance. Pushing sensing capabilities to the individual-spin level would enable unprecedented applications such as single molecule structural imaging; however, the weak magnetic fields from single spins are undetectable by conventional far-field resonance techniques. In recent years, there has been a considerable effort to develop nanoscale scanning magnetometers, which are able to measure fewer spins by bringing the sensor in close proximity to its target. The most sensitive of these magnetometers generally require low temperatures for operation, but measuring under ambient conditions (standard temperature and pressure) is critical for many imaging applications, particularly in biological systems. Here we demonstrate detection and nanoscale imaging of the magnetic field from a single electron spin under ambient conditions using a scanning nitrogen-vacancy (NV) magnetometer. Real-space, quantitative magnetic-field images are obtained by deterministically scanning our NV magnetometer 50 nanometers above a target electron spin, while measuring the local magnetic field using dynamically decoupled magnetometry protocols. This single-spin detection capability could enable single-spin magnetic resonance imaging of electron spins on the nano- and atomic scales and opens the door for unique applications such as mechanical quantum state transfer.