Accurate on-board capacity estimation is of critical importance in lithium-ion battery applications. Battery charging/discharging often occurs under a constant current load, and hence voltage versus time measurements under this condition may be accessible in practice. This paper presents a data-driven diagnostic technique, Gaussian process regression for in situ capacity estimation (GP-ICE), which estimates battery capacity using voltage measurements over short periods of galvanostatic operation. Unlike previous works, GP-ICE does not rely on interpreting the voltage–time data as incremental capacity (IC) or differential voltage (DV) curves. This overcomes the need to differentiate the voltage–time data (a process that amplifies measurement noise), and the requirement that the range of voltage measurements encompasses the peaks in the IC/DV curves. GP-ICE is applied to two datasets, consisting of 8 and 20 cells, respectively. In each case, within certain voltage ranges, as little as 10 s of galvanostatic operation enables capacity estimates with approximately 2%–3% root-mean-squared error (RMSE).