In this paper, a low-cost dynamic measurement system using the RGB-depth camera, Microsoft Kinect® v2, is proposed for measuring time-varying free surface motion of liquid dampers used in building vibration mitigation. Various experimental studies are conducted consecutively: performance evaluation and validation of the Kinect® v2, real-time monitoring using the Kinect® v2 SDK(software development kits), point cloud acquisition of liquid free surface in the 3D space, comparison with the existing video sensing technology. Utilizing the proposed Kinect® v2-based measurement system in this study, dynamic behavior of liquid in a laboratory-scaled small tank under a wide frequency range of input excitation is experimentally analyzed.