A novel method is proposed for accurately determining the local wall friction through the near-wall measurement of time-average velocity profile in a Type-A turbulent boundary layer (TBL). The method is based on the newly established analytical wall-law in Type-A TBL. The direct numerical simulations (DNS) data of turbulence on a zero-pressure-gradient flat-plate (ZPGFP) is used to demonstrate the accuracy and the robustness of the approach. To verify the reliability and applicability of the method, a two-dimensional particle image velocimetry (PIV) measurement was performed in a ZPGFP TBL with the low-to-moderate Reynolds number (Re). Via utilizing the algorithm of single-pixel ensemble correlation (SPEC), the velocity profiles in the ZPGFP TBL were resolved at a significantly improved spatial resolution, which greatly enhanced the measurement accuracy and permitted to accurately capture the near-wall velocity information. The accuracy of the approach is then quantitatively validated for the high Reynolds number turbulence by the ZPGFP TBL data. The research demonstrates that the current method can provide the precise estimation of wall friction with a mean error of less than 2%, which not only possesses the advantage of its insensitivity to the absolute wall-normal distance of the measuring point, but also is capable of providing an accurate prediction of wall shear stress based on fairly sparse experimental data on the velocity profile. The current study demonstrates that the wall shear stress can be accurately estimated by a velocity even at a single-point either measured or calculated in the near-wall region.