The $p$-adic numbers are non-Archimedean according to their absolute-value function, which is a different definition of “non-Archimedean” than the definition in ordered fields. That is, that absolute-value function is integral to the $p$-adic numbers being non-Archimedean. This absolute-value function defines a metric, and that metric is all we have to determine infinitesimalness, as algebrically without order, the concept of infinitesimal makes no sense (e.g. algebraically, there's no difference between $\mathbb Q(\epsilon)$, where $\epsilon$ is an infinitesimal, and $\mathbb Q(\tau)$ where $\tau$ is a transcendental real number).
Note that for reasons that will become apparent below, I will refer to the absolute-value function as defined here as “metric absolute-value function”.
Now a meaningful definition for an infinitesimal number is a number that is closer to zero than any rational number. In terms of the norm, this would mean:
$$x\text{ is infinitesimal}\iff\forall q\in\mathbb Q: \lvert x\rvert < \lvert q\rvert$$
However the metric absolute-value function is real-valued (in particular, there are no infintesimal absolute values) and multiplicative, thus we have for any $n\in\mathbb Z$ that $\lvert q^n\rvert=\lvert q\rvert^n$. Therefore if $\lvert q\rvert\ne 1$ then the absolute value goes arbitrary close to $0$, and therefore there is no way one could have an infinitesimal value (since the real numbers are Archimedean).
Or in other words, a field with a metric absolute-value function can only have infinitesimals if the metric absolute-value function maps all rational values to $1$.
However the standard absolute-value function on the $p$-adic numbers does not have the property (and couldn't have it, or else it would be useless in defining the $p$-adic numbers in the first place). Therefore according to the definition above, there are no infinitesimal numbers in the $p$-adic numbers.
Now one might argue that according to this argument the hyperreal numbers should not have infinitesimals either, as they have an absolute-value function (by extension from the absolute-value function of $\mathbb R$) which maps every positive rational number to itself (and thus, generally not to $1$). But that hyperreal absolute-value function is not a metric absolute-value function, as it can give infinitesimal values (or more generally non-real hyperreal values).
Note that it may be possible to define a metric absolute-value function on the hyperreals with the property that $\lvert a\lvert < \lvert b\rvert$ iff $a$ is infinitesimal relative to $b$ (I don't know enough about hyperreals to say whether it is possible). In that case, the restriction to $\mathbb Q$ (and indeed to $\mathbb R$) would be constant $1$, and therefore the hyperreal infinitesimals would be infinitesimal also according to the definition above.
Similarly, one may be able to find a non-standard metric absolute-value function on the $p$-adic numbers which is $1$ for all rational numbers, but $<1$ for some non-rational $p$-adic numbers. In that case, one might call those numbers infinitesimal.
Clearly, this can't happen if the ordered group is a subgroup or real numbers with the standard order, since the reals do not have infinitesimal. Unless you have another definition in mind...
– GreginGre Jun 27 '20 at 08:47