Infinitesimals can't exist in $\mathbb{R},$ since it satisfy the Archimedean Property. That is, given any positive real number $\varepsilon \gt 0$ and any positive real number $M\gt 0,$ there exists a natural number $n$ such that $n\varepsilon \gt M.$
But intuitively an "infinitesimal" is supposed to be so small that no matter how many times we add it to itself, it never gets to $1.$
On the other hand, $p$-adic numbers is non-Archimedean. Does this mean that, we can somehow formulate "infinitesimals" in $p$-adics?
I am aware that the notion of infinitesimals may not be useful in $p$-adic reals as they used in traditional differential calculus. But still it is interesting to know how these things fit with each others.
As you said, intuitively, an "infinitesimal" is supposed to be so small that no matter how many times we add it to itself, it never gets to 1. Or in mathematical symbols, an infinitesimal $x$ satisfies $nx<1$ for any $n\in\mathbb{N}$.
The constraint with this notion is that it requires an order $<$ in the field. In the case of the p-adic numbers field $\mathbb{Q_p}$, it cannot have an order that behaves well will the field operations. In other words, there is no total order $\leq$ in $\mathbb{Q_p}$ that satisfies $0\leq x^2$ for all $x\in\mathbb{Q_p}$.
So we need a different way to compare elements in $\mathbb{Q_p}$: the distance of the elements of $\mathbb{Q_p}$ to $0$, in order words, we need a valuation. The p-adic valuation in $\mathbb{Q_p}$ is non-archimedean in the sense of valuations: it satisfies the strong triangular inequality $|x+y|\leq\max\{|x|,|y|\}$ for all $x,y\in\mathbb{Q_p}$, which is equivalent to the fact that $|n|\leq 1$ for all $n\in\mathbb{N}$.
Now if you choose $x\in\mathbb{Q_p},\ x\neq0$ such that $0<|x|<|1|$, then $0<|nx|<|1|$ for all $n\in\mathbb{N}$. Now if you think of $|x|$ as the distance of $x$ to $0$, then $0<|x|<|1|$ is a good candidate to consider as infinitesimal in $\mathbb{Q_p}$.
Using this valuation is enough to create a nice calculus theory over $\mathbb{Q_p}$. You can check the book:
Schikhof, Wilhelmus Hendricus. Ultrametric Calculus: an introduction to p-adic analysis. Vol. 4. Cambridge University Press, 2007.