Understanding the gelation properties of dairy products has been an important aspect in the dairy industry. Traditional methods for characterizing gelation include utilizing oscillatory rheometer, compression test, viscometer, and Formagraph. However, these methods have limitations such as the need of separate samples for each measurement, long sample preparation time, and the difficulties in short-interval measurements. This study aims to evaluate ElastoSens (Rheolution Inc., Quebec, Canada), a novel instrument that allows non-destructive, continuous measurement of elasticity (G′) and viscosity (G″) over the course of time, on yogurt fermentation that often yields a weak gel. An oscillatory rheometer was used to validate results obtained from ElastoSens for yogurt gels made with different concentrations of nonfat dry milk (0%, 2.5%, 5.0% wt/vol). The results showed no significant difference between the 2 instruments for samples below 300 Pa, the cut off G′ value for measuring soft samples using ElastoSens (P = 0.09). The effects of varying nonfat dry milk concentrations, types of culture, and fermentation temperatures were then investigated using ElastoSens. The results showed a positive correlation between the maximum G′ and the amount of nonfat dry milk added. Two yogurt cultures investigated yielded significant difference in their corresponding yogurt gel strength (P < 0.001), with results matching the description of culture properties. There was a significant difference among maximum G′ values for yogurts fermented at 41°C, 43°C and 45°C (P < 0.05). Six duplicate experiments were conducted for each aforementioned variable. In conclusion, our results showed that ElastoSens could be used to measure gelation properties of yogurts over time nondestructively and are comparable to traditional methods. Further validation and investigation on more dairy products are needed to explore full potentials on ElastoSens.