Effective prosthetic socket design following lower-limb amputation requires accurate characterization of the residuum dynamic shape. We propose a novel framework for measuring residuum shape and deformation using a high-resolution low-cost multi-camera system. The system captures simultaneous images of the residuum, which are analyzed using a custom open-source three-dimensional digital image correlation (3D-DIC) toolbox. Measurements obtained during knee flexions, muscle contractions, and swelling upon socket removal, quantified the time-varying residuum shapes, strain fields, volumes, and cross-sectional areas. These data may be used to inform computational design algorithms of prosthetic sockets and other wearable technologies mechanically interfacing with the skin.