We show that a standard multimode optical fiber can act as a high-resolution ultra-compact tool to manipulate cold atoms in setups with limited optical access. Spatial light modulators allow us to generate control beams at the in-vacuum fiber end by digital optical phase conjugation. With no additional in-vacuum optics, this system reaches a $ \sim 1\;{\unicode{x00B5}{\rm m}} $∼1µm resolution for a transverse size of only 225 µm. As a demonstration, we use it to optically transport cold atoms towards the in-vacuum fiber end, to load them in optical microtraps, and to re-cool them in optical molasses. This work shows that the rapid progress of optics in complex media opens new, to the best of our knowledge, perspectives for spatially constrained quantum technology platforms combining cold atoms with other optical, electronic, or opto-mechanical systems.