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 downregulated by the specific miRNA isoform miR169defg. Here, we analyzed the role of the Arabidopsis thaliana TF NF-YA10 in the regulation of lateral root (LR) development. Plants expressing a version of NF-YA10 resistant to miR169 cleavage showed a perturbation in the LR gravitropic response. By extracting several features of root architecture using an improved version of the ChronoRoot deep-learning-based phenotyping system, we uncovered that these plants showed a differential angle of LRs over time when compared to Col-0. Detailed phenotyping of root growth dynamics revealed that NF-YA10 misregulation modulates the area explored by Arabidopsis roots. Furthermore, we found that NF-YA10 directly regulates LAZY genes, which were previously linked to gravitropism, by targeting their promoter regions. Hence, the TF NF-YA10 is a new element in the control of LR bending and root system architecture.