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The current scenario shows that IoT devices have had an exponential growth during the last decade, but their security measures have not, which leads to a wide range of attack vectors. The objective of this work focuses on the creation of a Pentest methodology to help assess the degree of security in these devices. The validation of the methodology was performed on a smart vacuum cleaner, where different penetration tests of the threats with the highest estimated severity were tested, obtaining promising results given that the device was successfully compromised and the user's privacy could be violated by applying the attacks used in this work. Therefore, it is considered that the methodology is valid for these environments and also emphasizes the need to review the current way of thinking about privacy and security in these products, in order to contribute to a connected, secure and sustainable society.