Camera is the main tool for monitoring shrimp underwater with a noninvasive method. Distance of the shrimp underwater with the varying camera causes the monitoring of the estimated shrimp size to be less accurate. This study provides a new solution to detect the distance of shrimp underwater with a camera using the Euclidian distance and triangle similarity algorithm. The problem raised in this study is how to measure the distance of a shrimp underwater with a camera. The method used has several stages, including using the grayscale image method, image thresholding, edge detection, detection of Region of Interest (ROI), determining the position of shrimp coordinates, calculating the length of shrimp coordinates, camera calibration using the triangle similarity algorithm, calculating the estimated distance of shrimp with the camera. The study results obtained a focal length value of 1298.58, the value of the distance between the shrimp and the camera (D') for 5 positions of shrimp underwater from 50 cm – 19.86 cm, and the RE value from 0% - 0.13%. In conclusion, this method can be used to measure the estimated distance between of moving shrimp and a camera with a low error rate.