Objective: The COVID-19 pandemic has not only a physical health impact but also a psychological toll, which is associated with the social isolation and emotional contagion of fear and anxiety. One of the main factors which influence the increased levels of stress is the fear of COVID-19, and specifically the fear of being infected, and of transmitting the virus to one’s family and friends. In this study, a new measure named “The Fear of COVID-19 Familial Infection Scale” (FCFI) is suggested, and its psychometric properties are tested. Methods: A sample of 582 participants filled an online survey; of those, 393 (67.5%) were healthcare workers. Of the healthcare workers, 218 (37.5%) were medical doctors, 46 (7.9%) were nurses, and 117 (20.1%) were other healthcare professionals. Participants filled out a demographic questionnaire, The FCFI, the Fear of the COVID-19 scale, and the Depression and Anxiety Scale (DASS-21). Results: Exploratory factor analysis revealed that the FCFI has two factors: Fear of infecting others, and Perception of Others’ fear of being infected by me. This bidimensional model accounts for 69.5% of the variance in the FCFI. The two subscales had good reliability and high convergence validity as indicated by its correlations with being exposed to COVID-19, fear of COVID-19 and the DASS-21 subscales. Conclusion: The FCFI has initial good psychometric properties and could be a useful tool to assess levels of fear of COVID-19 familial infection.