1,4-dioxane should be less than or equal to 10 ppm in finished cosmetic products according to the recommendation of the Scientific Committee on Consumer Safety, but it is often generated as a by-product during the manufacturing process of poly(ethylene glycol) (PEG)-based derivatives. In order to avoid the possible risk caused by 1,4-dioxane, it might be a good choice for preparing cosmetic ingredients by using polyglycerin (PG) instead of PEG as a hydrophilic segment. In the present study, polyglyceryl-10 caprylates were synthesized by the esterification reaction between polyglycerin-10 and caprylic acid. FTIR and 1H NMR were utilized to confirm the chemical structures of the obtained polyglyceryl-10 caprylates. Light transmittance was availed to investigate the water solubility of polyglyceryl-10 caprylates. The self-assembly behavior, size, and size distribution of polyglyceryl-10 caprylates were investigated by dynamic light scattering. The makeup cleansing effect was also evaluated by in vitro and in vivo methods. Irritation was evaluated by hen’s egg test-chorioallantoic membrane assay (HET-CAM). Results showed that polyglyceryl-10 monocaprylate could self-assemble into nanoparticles in the water at the concentration range of 2.5–10 wt% with a transparent appearance. The diameter of formed nanoparticles was around 100 nm with a narrow particle size distribution around 0.1 at the concentration of 2.5 wt% or 5 wt%. Polyglyceryl-10 monocaprylate exhibited good removal effect against makeup and excellent removal efficacy against pen eyeliner. The irritation of polyglyceryl-10 monocaprylate evaluated by HET-CAM at the concentration of 4 wt% was moderate irritant (irritation score = 8.4), which was lower than that of PEG-6 caprylic/capric glycerides (severe irritant, irritation score = 14.1). Therefore, polyglyceryl-10 monocaprylate might be a promising cosmetic ingredient for transparent makeup removing water.