The tension disc infiltrometer has become a widespread method to measure soil hydraulic properties under unsaturated conditions. Although several automated devices have been developed, most designs include an elongated water reservoir and a pressure transducer with electronic components to register the water level, increasing its cost and limiting its application. The objective of this work is to present a new tension disc infiltrometer with a compact design of 10 cm diameter and height, where the water level is monitored by a smartphone camera. The infiltration curve is determined from the automated analysis of the images recorded by the smartphone without additional electronic components. The device was first validated in the laboratory by comparing visual measurements (V), the camera imagery (Ca) and a pressure transducer (PT). Next, it was tested on field infiltration experiments. Robust fits (R2 = 0.99) were found between the water level measured with Ca in the laboratory and those obtained with V and PT procedures. The Ca method is accurate, robust and independent of the relative camera position. Good fits were also observed between Ca water level and those obtained with PT in the field experiments. Similar hydraulic conductivity and sorptivity values were obtained with both sensors using the numerical solution of the Haverkamp (NSH) equation. The compact infiltrometer, in conjunction with the smartphone camera, is an accurate, accessible, portable and easy-to-use field-based device for soil hydraulic characterisation.