The purpose of the present study was to develop a three-dimensional (3D) non-radiographic cephalometric system based on Simon's three planes. In pursuit of cephalometry without irradiation of patients, readiness of data and simplicity of the system, a portable 3D computer-aided, contact-method cephalometric system, equipped with newly developed cephalometric software for chairside use, was developed. The feasibility of its clinical use was examined based on comparison of the measurements obtained with those from conventional radiographic cephalometry on a human dry skull, as well as on three living subjects. From a total of nine measurements, a statistically significant difference was seen in six measurements: FMPA, U1/FH, FMIA, ANB, IMPA, and A-Np for the dry skull; in four measurements: FPA, FMPA, U1/FH, and Pog-Np for subject A; in five measurements: FMPA, U1/FH, FMIA, AN/FH, and A-Np for subject B; and in seven measurements: FMA, FMPA, U1/FH, FMIA, ANB, IMPA, and AN/FH for subject C. A clinically significant difference was found only in one measurement, U1/FH for the dry skull, in four measurements FPA, FMPA, U1/FH, and Pog-Np for subject A, in one measurement AN/FH for subject B, and in three measurements U1/FH, FMIA, and AN/FH for subject C. While demonstrating workability as a chairside tool and whilst there is a need for further refinement in measurement accuracy, this newly developed cephalometric system shows potential applicability, not only in the clinic as an auxiliary to or as a substitute for existing radiographic cephalometry, but also outside the clinic as an epidemiological tool.