  Ultrafast vectorially polarized pulses have found many applications in
information and energy transfer owing mainly to the presence of strong
longitudinal components and their space-polarization non-separability. Due to
their broad spectrum, such pulses often exhibit space-time couplings, which
significantly affect the pulse propagation dynamics leading to reduced energy
density or utilized to create new effects like a rotating or sliding wavefront
at focus. Here, we present a new method for the spatio-temporal
characterization of ultrashort cylindrical vector pulses based on a combination
of spatially resolved Fourier transform spectroscopy and Mach-Zehnder
interferometry. The method provides access to spatially resolved spectral
amplitudes and phases of all polarization components of the pulse. We
demonstrate the capabilities of the method by completely characterizing a
$10$~fs radially polarized pulse from a Ti:sapphire laser at $800$~nm.
