A pipeline profiler includes an elongated body and a plurality of mechanical arms projecting radially about the elongated body. Each mechanical arm has an adjustable angle bracket shape and a hinge joint formed at a corner of the adjustable angle bracket shape. Odometers to measure a travel distance of the elongated body are coupled to the mechanical arms at the hinge joints of the mechanical arms. Motion devices are coupled to the elongated body to detect the azimuth and inclination of the elongated body. To obtain a profile of a pipeline, the pipeline profiler is attached to a pig that is movable through the pipeline by a fluid pressure in the pipeline.