The characterisation of particle shape is an important analysis in the field of sedimentary geology. At finer scales, it is key for understanding sediment transport while at coarser scales, such as boulders, it is vital for coastal protection. However, the accurate characterisation of particle shape is restricted by the application of 2D imaging for 3D objects or expensive and time-consuming 3D imaging methods such as X-ray tomography or laser scanning. This research outlines a low-cost, easy-to-use 3D particle imaging and shape characterisation methodology employing structure-from-motion (SfM) photogrammetry. A smartphone device was used to capture 2D images of pebble/cobble-sized samples, which were converted to 3D image models using SfM. The 3D image models were then analysed using a comprehensive set of 16 size and shape parameters. Furthermore, a minimum resolution, independent of particle size, is proposed here for the 3D image models for reliable and reproducible size and shape analysis. Thus, the methodology presented here for 3D particle imaging and size and shape analysis can be translated for a range of particle sizes. This work thus opens a pathway for the use of readily accessible imaging devices, such as smartphones, to flexibly obtain image data both in situ as well as in laboratories, thus providing an immensely powerful tool for research and teaching.