Portuguese Rafael Camacho joined the Liverpool academy at the end of the 2015/16 season following a successful trial after his release from Manchester City where he had been two years after joining the club from Sporting Lisbon. During 2017/18 his progression with the under 18's saw him moved to Melwood after fourteen goals in eighteen appearances.

On 7 April 2018, he was an unused substitute for the Merseyside Derby against Everton in the Premier League. Camacho finally made his first-team debut when Liverpool were knocked out by Wolves in the third round of the FA Cup on 7th January 2019, playing all ninety minutes at right back. Twelve days later he came on as an injury time substitute as Liverpool ran down the clock against Crystal Palace at Anfield, but despite making the bench four more times he failed to get on the field. After refusing to sign a contract extension, a deal was agreed for Camacho to return to Sporting Lisbon on 27th June 2019. He began the 2019/20 season in the Under 23's but went on to make nineteen appearances with the first team. However he was back with the Under 23's for the start of 2020/21 and spent the second half on loan at Rio Ave. For 2021/22 he was loaned to Belenenses where he had an injury hit spell, making just nine league starts. He was loaned out again for 2022/23, this time to Greek side Aris Salonika where her scored three times in 32 appearances in all competitions.

Returning to Sporting for 2023/24, Camacho wasn't allocated a squad number and spent the whole campaign on the sidelines. In July 2025, Camacho signed for Croatian club HNK Vukovar, then posting on Instagram that he had been suffering an injury for two years.