Time-domain near-infrared optical tomography (TD NIROT) techniques based on diffuse light were gaining performance over the last years. They are capable of imaging tissue at several centimeters depth and reveal clinically relevant information, such as tissue oxygen saturation. In this work, we present the very first in vivo results of our SPAD camera-based TD NIROT reflectance system with a temporal resolution of ∼116 ps. It provides 2800 time of flight source-detector pairs in a compact probe of only 6 cm in diameter. Additionally, we describe a 3-step reconstruction procedure that enables accurate recovery of structural information and of the optical properties. We demonstrate the system’s performance firstly in reconstructing the 3D-structure of a heterogeneous tissue phantom with tissue-like scattering and absorption properties within a volume of 9 cm diameter and 5 cm thickness. Furthermore, we performed in vivo tomography of an index finger located within a homogeneous scattering medium. We employed a fast sampling rate of 2.5 Hz to detect changes in tissue oxygenation. Tomographic reconstructions were performed in true 3D, and without prior structural information, demonstrating the powerful capabilities of the system. This shows its potential for clinical applications.