A simple time-domain optical method for estimating the depth $\left(d\right)$ and lifetime $\left(\tau \right)$ of fluorescent inclusions in a turbid medium is described. We demonstrate the method for depth and lifetime estimation of a fluorescent inclusion directly by fitting a monoexponential decay $\left({\tau }_{\mathrm{eff}}\right)$ of the temporal position of the temporal point-spread function and the measurement of its maximum temporal position $\left(t_{\max }\right)$ . Since both of these measurements are intensity independent, this method provides a robust and efficient approach. This method is validated with experimental data.