diff --git a/doc/releases/release-notes-4.3.rst b/doc/releases/release-notes-4.3.rst
index d8850a1be1972..8e7cd25c32648 100644
--- a/doc/releases/release-notes-4.3.rst
+++ b/doc/releases/release-notes-4.3.rst
@@ -172,6 +172,10 @@ New APIs and options
     * :kconfig:option:`CONFIG_SDL_DISPLAY_DEFAULT_PIXEL_FORMAT_AL_88`
     * :kconfig:option:`CONFIG_SDL_DISPLAY_COLOR_TINT`
 
+* Haptics
+
+  * :kconfig:option:`CONFIG_HAPTICS_SHELL`
+
 * Kernel
 
   * :kconfig:option:`CONFIG_HW_SHADOW_STACK`
diff --git a/drivers/haptics/CMakeLists.txt b/drivers/haptics/CMakeLists.txt
index ca81bffad6b26..40ee847140a15 100644
--- a/drivers/haptics/CMakeLists.txt
+++ b/drivers/haptics/CMakeLists.txt
@@ -4,4 +4,5 @@ zephyr_library()
 zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/haptics.h)
 
 zephyr_library_sources_ifdef(CONFIG_HAPTICS_DRV2605 drv2605.c)
+zephyr_library_sources_ifdef(CONFIG_HAPTICS_SHELL haptics_shell.c)
 zephyr_library_sources_ifdef(CONFIG_USERSPACE haptics_handlers.c)
diff --git a/drivers/haptics/Kconfig b/drivers/haptics/Kconfig
index 4a932d9b21279..b0965223e81dc 100644
--- a/drivers/haptics/Kconfig
+++ b/drivers/haptics/Kconfig
@@ -19,6 +19,12 @@ config HAPTICS_INIT_PRIORITY
 	help
 	  Haptic driver initialization priority.
 
+config HAPTICS_SHELL
+	bool "Haptics shell"
+	depends on SHELL
+	help
+	  Enable Haptics-related shell commands.
+
 source "drivers/haptics/Kconfig.drv2605"
 
 endif # HAPTICS
diff --git a/drivers/haptics/haptics_shell.c b/drivers/haptics/haptics_shell.c
new file mode 100644
index 0000000000000..45decfc51899c
--- /dev/null
+++ b/drivers/haptics/haptics_shell.c
@@ -0,0 +1,81 @@
+/*
+ * Copyright (c) 2025 Cirrus Logic, Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * @brief Haptics shell commands.
+ */
+
+#include <zephyr/shell/shell.h>
+#include <zephyr/drivers/haptics.h>
+#include <stdlib.h>
+
+#define HAPTICS_START_HELP SHELL_HELP("Start haptic output", "<device>")
+#define HAPTICS_STOP_HELP  SHELL_HELP("Stop haptic output", "<device>")
+
+#define HAPTICS_ARGS_DEVICE 1
+
+static int cmd_start(const struct shell *sh, size_t argc, char **argv)
+{
+	const struct device *dev;
+	int error;
+
+	dev = shell_device_get_binding(argv[HAPTICS_ARGS_DEVICE]);
+	if (dev == NULL) {
+		shell_error(sh, "haptic device not found");
+		return -EINVAL;
+	}
+
+	error = haptics_start_output(dev);
+	if (error < 0) {
+		shell_error(sh, "failed to start haptic output (%d)", error);
+	}
+
+	return error;
+}
+
+static int cmd_stop(const struct shell *sh, size_t argc, char **argv)
+{
+	const struct device *dev;
+	int error;
+
+	dev = shell_device_get_binding(argv[HAPTICS_ARGS_DEVICE]);
+	if (dev == NULL) {
+		shell_error(sh, "haptic device not found");
+		return -EINVAL;
+	}
+
+	error = haptics_stop_output(dev);
+	if (error < 0) {
+		shell_error(sh, "Failed to stop haptic output (%d)", error);
+	}
+
+	return error;
+}
+
+static bool device_is_haptics(const struct device *dev)
+{
+	return DEVICE_API_IS(haptics, dev);
+}
+
+static void device_name_get(size_t idx, struct shell_static_entry *entry)
+{
+	const struct device *dev = shell_device_filter(idx, device_is_haptics);
+
+	entry->syntax = (dev != NULL) ? dev->name : NULL;
+	entry->handler = NULL;
+	entry->help = NULL;
+	entry->subcmd = NULL;
+}
+
+SHELL_DYNAMIC_CMD_CREATE(dsub_device_name, device_name_get);
+
+SHELL_STATIC_SUBCMD_SET_CREATE(
+	haptic_cmds, SHELL_CMD_ARG(start, &dsub_device_name, HAPTICS_START_HELP, cmd_start, 2, 0),
+	SHELL_CMD_ARG(stop, &dsub_device_name, HAPTICS_STOP_HELP, cmd_stop, 2, 0),
+	SHELL_SUBCMD_SET_END);
+
+SHELL_CMD_REGISTER(haptics, &haptic_cmds, "Haptic shell commands", NULL);