diff --git a/doc/openocd.texi b/doc/openocd.texi
index 1d517213d..983ce3ca9 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -7836,6 +7836,12 @@ Displays ID register from AP @var{num},
 defaulting to the currently selected AP.
 @end deffn
 
+@deffn Command {dap apreg} ap_num reg [value]
+Displays content of a register @var{reg} from AP @var{ap_num}
+or set a new value @var{value}.
+@var{reg} is byte address of a word register, 0, 4, 8 ... 0xfc.
+@end deffn
+
 @deffn Command {dap apsel} [num]
 Select AP @var{num}, defaulting to 0.
 @end deffn
diff --git a/src/target/arm_adi_v5.c b/src/target/arm_adi_v5.c
index eb3392bf7..f58afdc0a 100644
--- a/src/target/arm_adi_v5.c
+++ b/src/target/arm_adi_v5.c
@@ -1556,6 +1556,45 @@ COMMAND_HANDLER(dap_apid_command)
 	return retval;
 }
 
+COMMAND_HANDLER(dap_apreg_command)
+{
+	struct target *target = get_current_target(CMD_CTX);
+	struct arm *arm = target_to_arm(target);
+	struct adiv5_dap *dap = arm->dap;
+
+	uint32_t apsel, reg, value;
+	int retval;
+
+	if (CMD_ARGC < 2 || CMD_ARGC > 3)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
+	/* AP address is in bits 31:24 of DP_SELECT */
+	if (apsel >= 256)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	COMMAND_PARSE_NUMBER(u32, CMD_ARGV[1], reg);
+	if (reg >= 256 || (reg & 3))
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	if (CMD_ARGC == 3) {
+		COMMAND_PARSE_NUMBER(u32, CMD_ARGV[2], value);
+		retval = dap_queue_ap_write(dap_ap(dap, apsel), reg, value);
+	} else {
+		retval = dap_queue_ap_read(dap_ap(dap, apsel), reg, &value);
+	}
+	if (retval == ERROR_OK)
+		retval = dap_run(dap);
+
+	if (retval != ERROR_OK)
+		return retval;
+
+	if (CMD_ARGC == 2)
+		command_print(CMD_CTX, "0x%08" PRIx32, value);
+
+	return retval;
+}
+
 COMMAND_HANDLER(dap_ti_be_32_quirks_command)
 {
 	struct target *target = get_current_target(CMD_CTX);
@@ -1615,6 +1654,14 @@ static const struct command_registration dap_commands[] = {
 			"(default currently selected AP)",
 		.usage = "[ap_num]",
 	},
+	{
+		.name = "apreg",
+		.handler = dap_apreg_command,
+		.mode = COMMAND_EXEC,
+		.help = "read/write a register from AP "
+			"(reg is byte address of a word register, like 0 4 8...)",
+		.usage = "ap_num reg [value]",
+	},
 	{
 		.name = "baseaddr",
 		.handler = dap_baseaddr_command,