One criterion for the evaluation of surface cracks in steel welds is to analyze the depth of the crack, because it is an effective indicator of its potential risk. This paper proposes a new methodology to obtain an accurate crack-depth prediction model based on the combination of infrared thermography and the 3D reconstruction procedure. In order to do this, a study of the cooling rate of the steel is implemented through active infrared thermography, allowing the study of the differential thermal behavior of the steel in the fissured zone with respect to the nonfissured zone. These cooling rate data are correlated with the real geometry of the crack, which is obtained with the 3D reconstruction of the welds through a macrophotogrammetric procedure. In this way, it is possible to analyze the correlation between cooling rate and depth through the different zones of the crack. The results of the study allow the establishment of an accurate predictive depth model which enables the study of the depth of the crack using only the cooling rate data. In this way, the remote measure of the depth of the surface steel crack based on thermography is possible.