As a key technology of 5G, NFV has attracted much attention. In addition, monitoring plays an important role, and can be widely used for virtual network function placement and resource optimisation. The existing monitoring methods focus on the monitoring load without considering they own resources needed. This raises a unique challenge: jointly optimising the NFV monitoring systems and minimising their monitoring load at runtime. The objective is to enhance the gain in real-time monitoring metrics at minimum monitoring costs. In this context, we propose a novel NFV monitoring solution, namely, iMon (Monitoring by inferring), that jointly optimises the monitoring process and reduces resource consumption. We formalise the monitoring process into a multitarget regression problem and propose three regression models. These models are implemented by a deep neural network, and an experimental platform is built to prove their availability and effectiveness. Finally, experiments also show that monitoring resource requirements are reduced, and the monitoring load is just 0.6% of that of the monitoring tool cAdvisor on our dataset.