diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py
index 29e99ea3..d9c57aa2 100644
--- a/lerobot/common/robot_devices/cameras/intelrealsense.py
+++ b/lerobot/common/robot_devices/cameras/intelrealsense.py
@@ -114,7 +114,7 @@ def save_images_from_cameras(
         camera = IntelRealSenseCamera(config)
         camera.connect()
         print(
-            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
+            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.capture_width}, height={camera.capture_height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -224,9 +224,20 @@ class IntelRealSenseCamera:
             self.serial_number = self.find_serial_number_from_name(config.name)
         else:
             self.serial_number = config.serial_number
+
+        # Store the raw (capture) resolution from the config.
+        self.capture_width = config.width
+        self.capture_height = config.height
+
+        # If rotated by ±90, swap width and height.
+        if config.rotation in [-90, 90]:
+            self.width = config.height
+            self.height = config.width
+        else:
+            self.width = config.width
+            self.height = config.height
+
         self.fps = config.fps
-        self.width = config.width
-        self.height = config.height
         self.channels = config.channels
         self.color_mode = config.color_mode
         self.use_depth = config.use_depth
@@ -246,7 +257,6 @@ class IntelRealSenseCamera:
         else:
             import cv2
 
-        # TODO(alibets): Do we keep original width/height or do we define them after rotation?
         self.rotation = None
         if config.rotation == -90:
             self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
@@ -284,15 +294,19 @@ class IntelRealSenseCamera:
         config = rs.config()
         config.enable_device(str(self.serial_number))
 
-        if self.fps and self.width and self.height:
+        if self.fps and self.capture_width and self.capture_height:
             # TODO(rcadene): can we set rgb8 directly?
-            config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps)
+            config.enable_stream(
+                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
+            )
         else:
             config.enable_stream(rs.stream.color)
 
         if self.use_depth:
-            if self.fps and self.width and self.height:
-                config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps)
+            if self.fps and self.capture_width and self.capture_height:
+                config.enable_stream(
+                    rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
+                )
             else:
                 config.enable_stream(rs.stream.depth)
 
@@ -330,18 +344,18 @@ class IntelRealSenseCamera:
             raise OSError(
                 f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}."
             )
-        if self.width is not None and self.width != actual_width:
+        if self.capture_width is not None and self.capture_width != actual_width:
             raise OSError(
-                f"Can't set {self.width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
+                f"Can't set {self.capture_width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
             )
-        if self.height is not None and self.height != actual_height:
+        if self.capture_height is not None and self.capture_height != actual_height:
             raise OSError(
-                f"Can't set {self.height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
+                f"Can't set {self.capture_height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
-        self.width = round(actual_width)
-        self.height = round(actual_height)
+        self.capture_width = round(actual_width)
+        self.capture_height = round(actual_height)
 
         self.is_connected = True
 
@@ -387,7 +401,7 @@ class IntelRealSenseCamera:
             color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)
 
         h, w, _ = color_image.shape
-        if h != self.height or w != self.width:
+        if h != self.capture_height or w != self.capture_width:
             raise OSError(
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )
@@ -409,7 +423,7 @@ class IntelRealSenseCamera:
             depth_map = np.asanyarray(depth_frame.get_data())
 
             h, w = depth_map.shape
-            if h != self.height or w != self.width:
+            if h != self.capture_height or w != self.capture_width:
                 raise OSError(
                     f"Can't capture depth map with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
                 )
diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py
index e6133a84..173f3f1a 100644
--- a/lerobot/common/robot_devices/cameras/opencv.py
+++ b/lerobot/common/robot_devices/cameras/opencv.py
@@ -144,8 +144,8 @@ def save_images_from_cameras(
         camera = OpenCVCamera(config)
         camera.connect()
         print(
-            f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, "
-            f"height={camera.height}, color_mode={camera.color_mode})"
+            f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.capture_width}, "
+            f"height={camera.capture_height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -244,9 +244,19 @@ class OpenCVCamera:
             else:
                 raise ValueError(f"Please check the provided camera_index: {self.camera_index}")
 
+        # Store the raw (capture) resolution from the config.
+        self.capture_width = config.width
+        self.capture_height = config.height
+
+        # If rotated by ±90, swap width and height.
+        if config.rotation in [-90, 90]:
+            self.width = config.height
+            self.height = config.width
+        else:
+            self.width = config.width
+            self.height = config.height
+
         self.fps = config.fps
-        self.width = config.width
-        self.height = config.height
         self.channels = config.channels
         self.color_mode = config.color_mode
         self.mock = config.mock
@@ -263,7 +273,6 @@ class OpenCVCamera:
         else:
             import cv2
 
-        # TODO(aliberts): Do we keep original width/height or do we define them after rotation?
         self.rotation = None
         if config.rotation == -90:
             self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
@@ -325,10 +334,10 @@ class OpenCVCamera:
 
         if self.fps is not None:
             self.camera.set(cv2.CAP_PROP_FPS, self.fps)
-        if self.width is not None:
-            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
-        if self.height is not None:
-            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+        if self.capture_width is not None:
+            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.capture_width)
+        if self.capture_height is not None:
+            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.capture_height)
 
         actual_fps = self.camera.get(cv2.CAP_PROP_FPS)
         actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)
@@ -340,19 +349,22 @@ class OpenCVCamera:
             raise OSError(
                 f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
             )
-        if self.width is not None and not math.isclose(self.width, actual_width, rel_tol=1e-3):
+        if self.capture_width is not None and not math.isclose(
+            self.capture_width, actual_width, rel_tol=1e-3
+        ):
             raise OSError(
-                f"Can't set {self.width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
+                f"Can't set {self.capture_width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
             )
-        if self.height is not None and not math.isclose(self.height, actual_height, rel_tol=1e-3):
+        if self.capture_height is not None and not math.isclose(
+            self.capture_height, actual_height, rel_tol=1e-3
+        ):
             raise OSError(
-                f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
+                f"Can't set {self.capture_height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
-        self.width = round(actual_width)
-        self.height = round(actual_height)
-
+        self.capture_width = round(actual_width)
+        self.capture_height = round(actual_height)
         self.is_connected = True
 
     def read(self, temporary_color_mode: str | None = None) -> np.ndarray:
@@ -393,7 +405,7 @@ class OpenCVCamera:
             color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
 
         h, w, _ = color_image.shape
-        if h != self.height or w != self.width:
+        if h != self.capture_height or w != self.capture_width:
             raise OSError(
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )
diff --git a/tests/test_cameras.py b/tests/test_cameras.py
index 3ab74516..ded0a3d5 100644
--- a/tests/test_cameras.py
+++ b/tests/test_cameras.py
@@ -85,8 +85,8 @@ def test_camera(request, camera_type, mock):
     camera.connect()
     assert camera.is_connected
     assert camera.fps is not None
-    assert camera.width is not None
-    assert camera.height is not None
+    assert camera.capture_width is not None
+    assert camera.capture_height is not None
 
     # Test connecting twice raises an error
     with pytest.raises(RobotDeviceAlreadyConnectedError):
@@ -204,3 +204,49 @@ def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
 
     # Small `record_time_s` to speedup unit tests
     save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)
+
+
+@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
+@require_camera
+def test_camera_rotation(request, camera_type, mock):
+    config_kwargs = {"camera_type": camera_type, "mock": mock, "width": 640, "height": 480, "fps": 30}
+
+    # No rotation.
+    camera = make_camera(**config_kwargs, rotation=None)
+    camera.connect()
+    assert camera.capture_width == 640
+    assert camera.capture_height == 480
+    assert camera.width == 640
+    assert camera.height == 480
+    no_rot_img = camera.read()
+    h, w, c = no_rot_img.shape
+    assert h == 480 and w == 640 and c == 3
+    camera.disconnect()
+
+    # Rotation = 90 (clockwise).
+    camera = make_camera(**config_kwargs, rotation=90)
+    camera.connect()
+    # With a 90° rotation, we expect the metadata dimensions to be swapped.
+    assert camera.capture_width == 640
+    assert camera.capture_height == 480
+    assert camera.width == 480
+    assert camera.height == 640
+    import cv2
+
+    assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
+    rot_img = camera.read()
+    h, w, c = rot_img.shape
+    assert h == 640 and w == 480 and c == 3
+    camera.disconnect()
+
+    # Rotation = 180.
+    camera = make_camera(**config_kwargs, rotation=None)
+    camera.connect()
+    assert camera.capture_width == 640
+    assert camera.capture_height == 480
+    assert camera.width == 640
+    assert camera.height == 480
+    no_rot_img = camera.read()
+    h, w, c = no_rot_img.shape
+    assert h == 480 and w == 640 and c == 3
+    camera.disconnect()