diff --git a/testing/sensortest/sensortest.c b/testing/sensortest/sensortest.c
index ca309aa19..fb97108f3 100644
--- a/testing/sensortest/sensortest.c
+++ b/testing/sensortest/sensortest.c
@@ -68,6 +68,7 @@ static void print_valb(FAR const char *buffer, FAR const char *name);
 static void print_vali2(FAR const char *buffer, FAR const char *name);
 static void print_ecg(FAR const char *buffer, FAR const char *name);
 static void print_force(FAR const char *buffer, FAR const char *name);
+static void print_velocity(FAR const char *buffer, FAR const char *name);
 static void print_ppgd(FAR const char *buffer, FAR const char *name);
 static void print_ppgq(FAR const char *buffer, FAR const char *name);
 static void print_cap(FAR const char *buffer, FAR const char *name);
@@ -113,6 +114,8 @@ static const struct sensor_info g_sensor_info[] =
   {print_ppgq,  sizeof(struct sensor_ppgq),  "ppgq"},
   {print_valf,  sizeof(struct sensor_prox),  "prox"},
   {print_valf3, sizeof(struct sensor_rgb),   "rgb"},
+  {print_velocity,
+             sizeof(struct sensor_velocity), "velocity"},
   {print_valf,  sizeof(struct sensor_temp),  "temp"},
   {print_valf,  sizeof(struct sensor_tvoc),  "tvoc"},
   {print_valf,  sizeof(struct sensor_uv),    "uv"}
@@ -237,6 +240,15 @@ static void print_gnss_satellite(FAR const char *buffer,
          name, event->timestamp, event->count, event->satellites);
 }
 
+static void print_velocity(const char *buffer, const char *name)
+{
+  FAR struct sensor_velocity *event =
+      (FAR struct sensor_velocity *)buffer;
+
+  printf("%s: timestamp:%" PRIu64 " value:%.2f\n",
+         name, event->timestamp, event->velocity);
+}
+
 static void usage(void)
 {
   printf("sensortest [arguments...] <command>\n");