Root developmental plasticity relies on transcriptional reprogramming, which largely depends on the activity of transcription factors (TFs). NF-YA2 and NF-YA10 (Nuclear Factor A2 and A10) are down-regulated by the specific miRNA isoform miR169defg, in contrast to miR169a. Here, we analyzed the role of the Arabidopsis thaliana TF NF-YA10 in the regulation of lateral root development. Plants expressing a version of NF-YA10 resistant to miR169 cleavage showed a perturbation in the lateral root gravitropic response. By extracting novel features of root architecture using the ChronoRoot deep-learning-based phenotyping system, we uncovered a differential emergence angle of lateral roots over time when compared to Col-0. Detailed phenotyping of root growth dynamics revealed that NF-YA10 activity modulates the area explored by Arabidopsis roots. Furthermore, we found that NF-YA10 directly regulates TAC1 and LAZY genes by targeting their promoter regions, genes previously linked to gravitropism. Hence, the TF NF-YA10 is a new element in the control of LR gravitropism and root system architecture.