High-order harmonic generation (HHG) using femtosecond lasers is an efficient and cost-effective method for producing attosecond and femtosecond light in the extreme ultraviolet and soft x-ray regions. This technique generates high-brightness harmonic beams with stable spectra, intensity, and wavefronts, making it a valuable tool for applications such as nanoimaging, material metrology, and studies of ultrafast dynamics. Accurate wavefront measurement of HHG beams is essential for analyzing complex incident fields, understanding atomic responses, and enhancing applications such as attosecond-driven ultrafast processes. However, quantifying the wavefronts of each harmonic component remains a challenge. Here, we present a multicolor wavefront sensing for HHG beams using the Talbot effect, validated theoretically and experimentally. Our method reconstructs individual high-order harmonic wavefronts with a spectral resolution of 4.8 eV, capturing multiple harmonic wavelengths in a single scan along the propagation direction, without the need for additional spectrometers or complex calibrations. This approach surpasses conventional Talbot effect wavefront sensing, which typically relies on quasimonochromatic waves or wavelength-averaging. Additionally, we introduce a high-accuracy centroid detection strategy that reduces tracking errors to the thousandths of a pixel while maintaining high computational efficiency, paving the way for broader applications in imaging and metrology. Published by the American Physical Society 2024