diff --git a/doc/openocd.texi b/doc/openocd.texi
index 16aa26bf5..def0c9d6c 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -4087,6 +4087,18 @@ or set a new value @var{value}.
 Select AP @var{num}, defaulting to 0.
 @end deffn
 
+@deffn Command {$dap_name dpreg} reg [value]
+Displays the content of DP register at address @var{reg}, or set it to a new
+value @var{value}.
+
+In case of SWD, @var{reg} is a value in packed format
+@math{dpbanksel << 4 | addr} and assumes values 0, 4, 8 ... 0xfc.
+In case of JTAG it only assumes values 0, 4, 8 and 0xc.
+
+@emph{Note:} Consider using @command{poll off} to avoid any disturbing
+background activity by OpenOCD while you are operating at such low-level.
+@end deffn
+
 @deffn Command {$dap_name baseaddr} [num]
 Displays debug base address from MEM-AP @var{num},
 defaulting to the currently selected AP.
diff --git a/src/target/arm_adi_v5.c b/src/target/arm_adi_v5.c
index 4dc2594cf..dc5c80393 100644
--- a/src/target/arm_adi_v5.c
+++ b/src/target/arm_adi_v5.c
@@ -1772,6 +1772,37 @@ COMMAND_HANDLER(dap_apreg_command)
 	return retval;
 }
 
+COMMAND_HANDLER(dap_dpreg_command)
+{
+	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
+	uint32_t reg, value;
+	int retval;
+
+	if (CMD_ARGC < 1 || CMD_ARGC > 2)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], reg);
+	if (reg >= 256 || (reg & 3))
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	if (CMD_ARGC == 2) {
+		COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], value);
+		retval = dap_queue_dp_write(dap, reg, value);
+	} else {
+		retval = dap_queue_dp_read(dap, reg, &value);
+	}
+	if (retval == ERROR_OK)
+		retval = dap_run(dap);
+
+	if (retval != ERROR_OK)
+		return retval;
+
+	if (CMD_ARGC == 1)
+		command_print(CMD_CTX, "0x%08" PRIx32, value);
+
+	return retval;
+}
+
 COMMAND_HANDLER(dap_ti_be_32_quirks_command)
 {
 	struct adiv5_dap *dap = adiv5_get_dap(CMD_DATA);
@@ -1836,6 +1867,14 @@ const struct command_registration dap_instance_commands[] = {
 			"(reg is byte address of a word register, like 0 4 8...)",
 		.usage = "ap_num reg [value]",
 	},
+	{
+		.name = "dpreg",
+		.handler = dap_dpreg_command,
+		.mode = COMMAND_EXEC,
+		.help = "read/write a register from DP "
+			"(reg is byte address (bank << 4 | reg) of a word register, like 0 4 8...)",
+		.usage = "reg [value]",
+	},
 	{
 		.name = "baseaddr",
 		.handler = dap_baseaddr_command,