During eruptions, volcanoes produce air-pressure waves inaudible for the human ear called infrasound, which are very helpful for detecting early signs of magma at the surface. Compared to violent ash-rich explosions, recording more discrete atmospheric disturbances from effusive eruptions remains a practical challenge depending on the distance to the source. At Nyiragongo volcano (D.R. Congo), towering above a 1-million urban area, we analyzed local infrasonic records between January 2018 and April 2022. An acoustic signature from this open-vent volcano is detected up to the volcano observatory facilities in Goma city center about 17 km from its crater. We compared infrasound signals with space-based observations of the intra-crater activity (SO2 emissions, thermal anomalies, crater depth/radius). We thus obtain a comprehensive picture of Nyiragongo's eruptive activity during this period, encompassing the drainage of its lava lake during its third known flank eruption on 22 May 2021.