Infusion systems are widely used in clinical medicine. Intravenous infusion therapy must be monitored to ensure patient safety. We proposed a compact flow rate sensor device based on the time-of-flight method. This device included one ceramic heater and two infrared sensors. Practical sensor prototypes were fabricated and characterized. The response time was 30 s. The sensor range was estimated to be 33 dB from μL/min to tens of mL/min, covering almost the entire usage range This flow rate sensor can be applied to common infusion tubes. Through the use of a mobile phone app, detailed information can be presented in real time.