diff --git a/cmake/linker_script/common/common-rom.cmake b/cmake/linker_script/common/common-rom.cmake
index 601e987bd9696..1df506522d472 100644
--- a/cmake/linker_script/common/common-rom.cmake
+++ b/cmake/linker_script/common/common-rom.cmake
@@ -273,3 +273,7 @@ endif()
 if(CONFIG_GNSS_RTK)
   zephyr_iterable_section(NAME gnss_rtk_data_callback KVMA RAM_REGION GROUP RODATA_REGION)
 endif()
+
+if(CONFIG_GNSS_VELNED)
+  zephyr_iterable_section(NAME gnss_velned_callback KVMA RAM_REGION GROUP RODATA_REGION)
+endif()
diff --git a/drivers/gnss/Kconfig b/drivers/gnss/Kconfig
index cbb504add46f4..9bfa10e1b9731 100644
--- a/drivers/gnss/Kconfig
+++ b/drivers/gnss/Kconfig
@@ -14,6 +14,11 @@ config GNSS_SATELLITES
 	help
 	  Enable GNSS satellites callback.
 
+config GNSS_VELNED
+	bool "GNSS velocity support"
+	help
+	  Enable GNSS velocity callback.
+
 config GNSS_DUMP
 	bool "GNSS dump support"
 	depends on LOG
diff --git a/drivers/gnss/gnss_publish.c b/drivers/gnss/gnss_publish.c
index 309c8560dd1f6..34628169a9b56 100644
--- a/drivers/gnss/gnss_publish.c
+++ b/drivers/gnss/gnss_publish.c
@@ -38,3 +38,18 @@ void gnss_publish_satellites(const struct device *dev, const struct gnss_satelli
 	k_sem_give(&semlock);
 }
 #endif
+
+#if CONFIG_GNSS_VELNED
+void gnss_publish_velned(const struct device *dev, const struct gnss_velned *velned)
+{
+	(void)k_sem_take(&semlock, K_FOREVER);
+
+	STRUCT_SECTION_FOREACH(gnss_velned_callback, callback) {
+		if (callback->dev == NULL || callback->dev == dev) {
+			callback->callback(dev, velned);
+		}
+	}
+
+	k_sem_give(&semlock);
+}
+#endif
diff --git a/drivers/gnss/gnss_u_blox_m8.c b/drivers/gnss/gnss_u_blox_m8.c
index 62d3c065b7722..550570f7c9873 100644
--- a/drivers/gnss/gnss_u_blox_m8.c
+++ b/drivers/gnss/gnss_u_blox_m8.c
@@ -85,6 +85,10 @@ UBX_FRAME_DEFINE(enable_nav,
 UBX_FRAME_DEFINE(enable_sat,
 	UBX_FRAME_CFG_MSG_RATE_INITIALIZER(UBX_CLASS_ID_NAV, UBX_MSG_ID_NAV_SAT, 1));
 #endif
+#if CONFIG_GNSS_VELNED
+UBX_FRAME_DEFINE(enable_velned,
+	UBX_FRAME_CFG_MSG_RATE_INITIALIZER(UBX_CLASS_ID_NAV, UBX_MSG_ID_NAV_VELNED, 1));
+#endif
 
 UBX_FRAME_ARRAY_DEFINE(u_blox_m8_init_seq,
 	&disable_gga, &disable_rmc, &disable_gsv, &disable_dtm, &disable_gbs,
@@ -93,6 +97,9 @@ UBX_FRAME_ARRAY_DEFINE(u_blox_m8_init_seq,
 #if CONFIG_GNSS_SATELLITES
 	&enable_sat,
 #endif
+#if CONFIG_GNSS_VELNED
+	&enable_velned,
+#endif
 );
 
 MODEM_UBX_MATCH_ARRAY_DEFINE(u_blox_m8_unsol_messages,
@@ -102,6 +109,10 @@ MODEM_UBX_MATCH_ARRAY_DEFINE(u_blox_m8_unsol_messages,
 	MODEM_UBX_MATCH_DEFINE(UBX_CLASS_ID_NAV, UBX_MSG_ID_NAV_SAT,
 			       gnss_ubx_common_satellite_callback),
 #endif
+#if CONFIG_GNSS_VELNED
+	MODEM_UBX_MATCH_DEFINE(UBX_CLASS_ID_NAV, UBX_MSG_ID_NAV_VELNED,
+			       gnss_ubx_common_velned_callback),
+#endif
 );
 
 static int ubx_m8_msg_get(const struct device *dev, const struct ubx_frame *req,
diff --git a/drivers/gnss/gnss_ubx_common.c b/drivers/gnss/gnss_ubx_common.c
index 35d0769098cbf..0f9e20667ca69 100644
--- a/drivers/gnss/gnss_ubx_common.c
+++ b/drivers/gnss/gnss_ubx_common.c
@@ -147,6 +147,32 @@ void gnss_ubx_common_satellite_callback(struct modem_ubx *ubx, const struct ubx_
 }
 #endif
 
+#if CONFIG_GNSS_VELNED
+void gnss_ubx_common_velned_callback(struct modem_ubx *ubx, const struct ubx_frame *frame,
+				     size_t len, void *user_data)
+{
+	if (len < UBX_FRAME_SZ(sizeof(struct ubx_nav_velned))) {
+		return;
+	}
+
+	const struct ubx_nav_velned *velned =
+		(const struct ubx_nav_velned *)frame->payload_and_checksum;
+	struct gnss_ubx_common_data *data = user_data;
+	const struct device *dev = data->gnss;
+
+	data->velned.velocity_n = velned->vel_n;
+	data->velned.velocity_e = velned->vel_e;
+	data->velned.velocity_d = velned->vel_d;
+	data->velned.speed = velned->speed;
+	data->velned.ground_speed = velned->ground_speed;
+	data->velned.heading = velned->heading;
+	data->velned.speed_acc = velned->speed_acc;
+	data->velned.heading_acc = velned->heading_acc;
+
+	gnss_publish_velned(dev, &data->velned);
+}
+#endif
+
 void gnss_ubx_common_init(struct gnss_ubx_common_data *data,
 			 const struct gnss_ubx_common_config *config)
 {
@@ -155,4 +181,14 @@ void gnss_ubx_common_init(struct gnss_ubx_common_data *data,
 	data->satellites.data = config->satellites.buf;
 	data->satellites.size = config->satellites.size;
 #endif
+#if CONFIG_GNSS_VELNED
+	data->velned.velocity_n = 0;
+	data->velned.velocity_e = 0;
+	data->velned.velocity_d = 0;
+	data->velned.speed = 0;
+	data->velned.ground_speed = 0;
+	data->velned.heading = 0;
+	data->velned.speed_acc = 0;
+	data->velned.heading_acc = 0;
+#endif
 }
diff --git a/drivers/gnss/gnss_ubx_common.h b/drivers/gnss/gnss_ubx_common.h
index 0d59179540394..5549b1d00c685 100644
--- a/drivers/gnss/gnss_ubx_common.h
+++ b/drivers/gnss/gnss_ubx_common.h
@@ -22,6 +22,9 @@ struct gnss_ubx_common_data {
 		size_t size;
 	} satellites;
 #endif
+#if CONFIG_GNSS_VELNED
+	struct gnss_velned velned;
+#endif
 };
 
 struct gnss_ubx_common_config {
@@ -38,6 +41,9 @@ void gnss_ubx_common_pvt_callback(struct modem_ubx *ubx, const struct ubx_frame
 void gnss_ubx_common_satellite_callback(struct modem_ubx *ubx, const struct ubx_frame *frame,
 				       size_t len, void *user_data);
 
+void gnss_ubx_common_velned_callback(struct modem_ubx *ubx, const struct ubx_frame *frame,
+				     size_t len, void *user_data);
+
 void gnss_ubx_common_init(struct gnss_ubx_common_data *data,
 			 const struct gnss_ubx_common_config *config);
 
diff --git a/include/zephyr/drivers/gnss.h b/include/zephyr/drivers/gnss.h
index d27a639848226..00a6ce8f9e81e 100644
--- a/include/zephyr/drivers/gnss.h
+++ b/include/zephyr/drivers/gnss.h
@@ -229,6 +229,37 @@ struct gnss_satellites_callback {
 	gnss_satellites_callback_t callback;
 };
 
+/** GNSS velocity structure */
+struct gnss_velned {
+	/** Velocity North in cm/s */
+	int32_t velocity_n;
+	/** Velocity East in cm/s */
+	int32_t velocity_e;
+	/** Velocity Down in cm/s */
+	int32_t velocity_d;
+	/** Speed in cm/s */
+	uint32_t speed;
+	/** Ground speed in cm/s */
+	uint32_t ground_speed;
+	/** Heading in degrees */
+	int32_t heading;
+	/** Speed accuracy in cm/s */
+	uint32_t speed_acc;
+	/** Heading accuracy in degrees */
+	uint32_t heading_acc;
+};
+
+/** Template for GNSS velocity callback */
+typedef void (*gnss_velned_callback_t)(const struct device *dev, const struct gnss_velned *velned);
+
+/** GNSS callback structure */
+struct gnss_velned_callback {
+	/** Filter callback to GNSS data from this device if not NULL */
+	const struct device *dev;
+	/** Callback called when GNSS velocity is published */
+	gnss_velned_callback_t callback;
+};
+
 /**
  * @brief Set the GNSS fix rate
  *
@@ -451,6 +482,23 @@ static inline int z_impl_gnss_get_latest_timepulse(const struct device *dev,
 #define GNSS_SATELLITES_CALLBACK_DEFINE(_dev, _callback)
 #endif
 
+/**
+ * @brief Register a callback structure for GNSS velocity published
+ *
+ * @param _dev Device pointer
+ * @param _callback The callback function
+ */
+#if CONFIG_GNSS_VELNED
+#define GNSS_VELNED_CALLBACK_DEFINE(_dev, _callback)                                            \
+	static const STRUCT_SECTION_ITERABLE(gnss_velned_callback,                              \
+					     _gnss_velned_callback__##_callback) = {            \
+		.dev = _dev,                                                                    \
+		.callback = _callback,                                                          \
+	}
+#else
+#define GNSS_VELNED_CALLBACK_DEFINE(_dev, _callback)
+#endif
+
 /**
  * @}
  */
diff --git a/include/zephyr/drivers/gnss/gnss_publish.h b/include/zephyr/drivers/gnss/gnss_publish.h
index b686c7eaed112..d96145e3672d8 100644
--- a/include/zephyr/drivers/gnss/gnss_publish.h
+++ b/include/zephyr/drivers/gnss/gnss_publish.h
@@ -16,4 +16,7 @@ void gnss_publish_data(const struct device *dev, const struct gnss_data *data);
 void gnss_publish_satellites(const struct device *dev, const struct gnss_satellite *satellites,
 			     uint16_t size);
 
+/** Internal function used by GNSS drivers to publish GNSS velocity */
+void gnss_publish_velned(const struct device *dev, const struct gnss_velned *velned);
+
 #endif /* ZEPHYR_DRIVERS_GNSS_GNSS_H_ */
diff --git a/include/zephyr/linker/common-rom/common-rom-misc.ld b/include/zephyr/linker/common-rom/common-rom-misc.ld
index 41c5c4f5d5b61..daa68cf867c78 100644
--- a/include/zephyr/linker/common-rom/common-rom-misc.ld
+++ b/include/zephyr/linker/common-rom/common-rom-misc.ld
@@ -76,3 +76,7 @@
 #if defined(CONFIG_GNSS_RTK)
 	ITERABLE_SECTION_ROM(gnss_rtk_data_callback, Z_LINK_ITERABLE_SUBALIGN)
 #endif
+
+#if defined(CONFIG_GNSS_VELNED)
+	ITERABLE_SECTION_ROM(gnss_velned_callback, Z_LINK_ITERABLE_SUBALIGN)
+#endif
diff --git a/include/zephyr/modem/ubx/protocol.h b/include/zephyr/modem/ubx/protocol.h
index 747edad32b10d..e4977db414765 100644
--- a/include/zephyr/modem/ubx/protocol.h
+++ b/include/zephyr/modem/ubx/protocol.h
@@ -62,6 +62,7 @@ enum ubx_class_id {
 
 enum ubx_msg_id_nav {
 	UBX_MSG_ID_NAV_PVT = 0x07,
+	UBX_MSG_ID_NAV_VELNED = 0x12,
 	UBX_MSG_ID_NAV_SAT = 0x35,
 };
 
@@ -168,6 +169,18 @@ struct ubx_nav_sat {
 	} sat[];
 };
 
+struct ubx_nav_velned {
+	uint32_t itow;
+	int32_t vel_n;
+	int32_t vel_e;
+	int32_t vel_d;
+	uint32_t speed;
+	uint32_t ground_speed;
+	int32_t heading;
+	uint32_t speed_acc;
+	uint32_t heading_acc;
+} __packed;
+
 enum ubx_msg_id_ack {
 	UBX_MSG_ID_ACK = 0x01,
 	UBX_MSG_ID_NAK = 0x00