A system for monitoring soil conditions within a field includes an agricultural implement including a frame and a ground-engaging tool coupled to the frame. The system further includes a first sensor coupled to the ground-engaging tool and configured to detect motion of the ground-engaging tool as the agricultural implement is moved across the field. The system additionally includes a second sensor separate from the first sensor. The second sensor is configured to detect an orientation of the ground-engaging tool relative to the frame as the agricultural implement is moved across the field. The system includes a controller communicatively coupled to the first and second sensors. The controller is configured to determine an indication of a soil condition at a given location within the field based at least in part on the detected motion and the detected orientation of the ground-engaging tool at the given location within the field.
