The aims of this study were to evaluate the use of infrared thermography (IRT) images as a tool for monitoring body surface temperature and to study its relationship with residual feed intake (RFI) in Nellore cattle. We also evaluated IRT as an indicator of feed efficiency in Bos indicus cattle. In this study, 144 Nellore steers were fed high-concentrate diets for 70days to evaluate feedlot performance. We examined nine animals classified as high RFI and nine animals classified as low RFI by measuring rectal temperature (RT), respiratory frequency (RF), and IRT in the front, eye, ocular area, cheek, flank, ribs, rump, and front feet. The measurements were taken at 0700, 1200, and 1600 hours. The IRT temperatures measured at the eye, cheek, flank, ribs, rump, and front feet were positively associated with RF and RT. These results indicate that increases in the temperatures are associated with increased RF and RT. There was an effect in the RFI group in the front region where IRT correlates with RT. The front IRT for high-RFI cattle was lower (P < 0.01) than that for low-RFI cattle. The higher skin temperature measured by IRT for animals in the RFI group may be related to improved efficiency of thermoregulatory mechanisms because the RT remained lower in the low-RFI group. IRT can be used in the head for studies related to RFI in beef cattle.