Heart failure is a cardiovascular disease in which heart fails to pump sufficient blood required by the body. Significant signs of worsening heart failure include decreased thoracic impedance, increased heart rate, irregular electrocardiogram (ECG), and lack of motion activity of the patient. Heart failure can be better managed if monitored continuously and in real-time. The existing solutions for continuous monitoring of these parameters are invasive and hence are not only expensive but can also cause serious health risks. This paper discusses the development of a telehealth system that consists of an Internet of Things including a wearable device connected to a cloud-based database and a mobile application using Wi-Fi. The wearable device is a noninvasive monitor that consists of different sensors embedded with a microcontroller and can be a potential solution for better management of heart failure. It continuously monitors the above-mentioned parameters and sends data to the mobile application using a cloud-based system. The mobile application has separate portals for patients and doctors where doctor can monitor a specific patient enrolled under his profile. The performance of the developed device is validated in 10 healthy individuals.