The phenomenon of quantum revivals resulting from the self-interference of wave packets has been observed in several quantum systems and utilized widely in spectroscopic applications. Here, we present a combined analytical and numerical study on the generation of orientational quantum revivals (OQRs) exclusively using a single-cycle terahertz pulse. As a proof of principle, we examine the scheme in the linear polar molecule HCN with experimentally accessible pulse parameters and obtain strong field-free OQR without requiring the condition of the sudden-impact limit. To visualize the involved quantum mechanism, we derive a three-state model using the Magnus expansion of the time-evolution operator. Interestingly, the terahertz pulse interaction with the electric-dipole moment can activate direct multiphoton processes, leading to OQR enhancements beyond that induced by a rotational ladder-climbing mechanism from the rotational ground state. We further show that the theoretical maximum degree of orientation (0.774) for three populated rotational states can be obtained with available terahertz pulses.