Three-dimensional morphologies of wear particles are important information sources for machine condition assessment and fault diagnosis. However, existing three-dimensional image acquisition systems, such as laser scanning confocal microscopy and atomic force microscopy, cannot be directly applied in condition-based maintenance of machines. In order to automatically acquire three-dimensional information of wear debris for online condition monitoring, a microfluidic device consisting of an oil flow channel and a video imaging system is developed. This paper focuses on the control of particle motions. A microchannel is designed to ensure the continuous rotation of particles such that their three-dimensional features can be captured. The relationships between running torque and channel height and particle size are analysed to determine the channel height. An infinite fluid field is considered to make sure that the particles rotate around the same axis to capture 360 degree views. Based on this, the cross section of the microchannel is determined at 5 mm × 0.2 mm (height × width) to capture the wear debris under 200 µm. A CMOS sensor is used to image the particles in multiple views and then three-dimensional features of wear debris (e.g. thickness, height aspect ratio and sphericity) are obtained. Two experiments were carried out to evaluate the performances of the designed system. The results demonstrate that (1) the microfluidic device is effective in capturing multiple view images of wear particles various in sizes and shapes; (2) spatial morphological characteristics of wear particles can be constructed using a sequence of multi-view images.