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Infra received largely positive reviews from contemporary music critics. At Metacritic, which assigns a normalized rating out of 100 to reviews from mainstream critics, the album received an average score of 77, based on 14 reviews, which indicates "generally favorable reviews".
Joe Tangari of Pitchfork Media gave the album a positive review, stating, "Infra works as an enveloping and moving work even absent any knowledge of its beginnings. Others may glean different feelings from it than I do, but that is part of the point. Even if it conjures nothing of the night for you, it is some of Richter's very best work. And if you've ever cared about his music, it will make you feel something."