The exponential growth in Hilbert space with increasing size of a quantum system means that accurately characterizing the system becomes significantly harder with system dimension d. We show that self-guided tomography is a practical, efficient, and robust technique of measuring higher-dimensional quantum states. The achieved fidelities are over 99.9% for qutrits (d=3) and ququints (d=5), and 99.1% for quvigints (d=20)-the highest values ever realized for qudit pure states. We also show excellent performance for mixed states, achieving average fidelities of 96.5% for qutrits. We demonstrate robustness against experimental sources of noise, both statistical and environmental. The technique is applicable to any higher-dimensional system, from a collection of qubits through to individual qudits, and any physical realization, be it photonic, superconducting, ionic, or spin.