AbstractTime‐of‐flight range cameras offer numerous advantages for the measurement of dynamic phenomena, thanks to their ability to directly measure three‐dimensional coordinates of objects at video rates using only one sensor. This paper reports the results of an investigation into the development of a range camera based system for measuring the deflection of reinforced concrete beams subjected to cyclic fatigue loading. New data segmentation methods and reconstruction algorithms have been developed to reconstruct the time‐dependent displacement of the beam with sub‐millimetre amplitude and millihertz‐level frequency precision and accuracy in all three dimensions along the entire beam length. Moreover, sub‐millimetre changes in displacement measurements due to stiffness degradation caused by fatigue are also reported.