diff --git a/doc/openocd.texi b/doc/openocd.texi
index 1eebe1425..b49550511 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2466,10 +2466,10 @@ configuration files, without the need to patch and rebuild OpenOCD.
 
 The driver uses a signal abstraction to enable Tcl configuration files to
 define outputs for one or several FTDI GPIO. These outputs can then be
-controlled using the @command{ftdi_set_signal} command. Special signal names
+controlled using the @command{ftdi set_signal} command. Special signal names
 are reserved for nTRST, nSRST and LED (for blink) so that they, if defined,
 will be used for their customary purpose. Inputs can be read using the
-@command{ftdi_get_signal} command.
+@command{ftdi get_signal} command.
 
 To support SWD, a signal named SWD_EN must be defined. It is set to 1 when the
 SWD protocol is selected. When set, the adapter should route the SWDIO pin to
@@ -2494,21 +2494,21 @@ signal. The following output buffer configurations are supported:
 These interfaces have several commands, used to configure the driver
 before initializing the JTAG scan chain:
 
-@deffn {Config Command} {ftdi_vid_pid} [vid pid]+
+@deffn {Config Command} {ftdi vid_pid} [vid pid]+
 The vendor ID and product ID of the adapter. Up to eight
 [@var{vid}, @var{pid}] pairs may be given, e.g.
 @example
-ftdi_vid_pid 0x0403 0xcff8 0x15ba 0x0003
+ftdi vid_pid 0x0403 0xcff8 0x15ba 0x0003
 @end example
 @end deffn
 
-@deffn {Config Command} {ftdi_device_desc} description
+@deffn {Config Command} {ftdi device_desc} description
 Provides the USB device description (the @emph{iProduct string})
 of the adapter. If not specified, the device description is ignored
 during device selection.
 @end deffn
 
-@deffn {Config Command} {ftdi_serial} serial-number
+@deffn {Config Command} {ftdi serial} serial-number
 Specifies the @var{serial-number} of the adapter to use,
 in case the vendor provides unique IDs and more than one adapter
 is connected to the host.
@@ -2517,12 +2517,12 @@ If not specified, serial numbers are not considered.
 and are not restricted to containing only decimal digits.)
 @end deffn
 
-@deffn {Config Command} {ftdi_channel} channel
+@deffn {Config Command} {ftdi channel} channel
 Selects the channel of the FTDI device to use for MPSSE operations. Most
 adapters use the default, channel 0, but there are exceptions.
 @end deffn
 
-@deffn {Config Command} {ftdi_layout_init} data direction
+@deffn {Config Command} {ftdi layout_init} data direction
 Specifies the initial values of the FTDI GPIO data and direction registers.
 Each value is a 16-bit number corresponding to the concatenation of the high
 and low FTDI GPIO registers. The values should be selected based on the
@@ -2531,7 +2531,7 @@ minimal impact on the target system. Avoid floating inputs, conflicting outputs
 and initially asserted reset signals.
 @end deffn
 
-@deffn {Command} {ftdi_layout_signal} name [@option{-data}|@option{-ndata} data_mask] [@option{-input}|@option{-ninput} input_mask] [@option{-oe}|@option{-noe} oe_mask] [@option{-alias}|@option{-nalias} name]
+@deffn {Command} {ftdi layout_signal} name [@option{-data}|@option{-ndata} data_mask] [@option{-input}|@option{-ninput} input_mask] [@option{-oe}|@option{-noe} oe_mask] [@option{-alias}|@option{-nalias} name]
 Creates a signal with the specified @var{name}, controlled by one or more FTDI
 GPIO pins via a range of possible buffer connections. The masks are FTDI GPIO
 register bitmasks to tell the driver the connection and type of the output
@@ -2541,7 +2541,7 @@ used with inverting data inputs and @option{-data} with non-inverting inputs.
 The @option{-oe} (or @option{-noe}) option tells where the output-enable (or
 not-output-enable) input to the output buffer is connected. The options
 @option{-input} and @option{-ninput} specify the bitmask for pins to be read
-with the method @command{ftdi_get_signal}.
+with the method @command{ftdi get_signal}.
 
 Both @var{data_mask} and @var{oe_mask} need not be specified. For example, a
 simple open-collector transistor driver would be specified with @option{-oe}
@@ -2562,7 +2562,7 @@ identical (or with data inverted) to an already specified signal
 @var{name}.
 @end deffn
 
-@deffn {Command} {ftdi_set_signal} name @option{0}|@option{1}|@option{z}
+@deffn {Command} {ftdi set_signal} name @option{0}|@option{1}|@option{z}
 Set a previously defined signal to the specified level.
 @itemize @minus
 @item @option{0}, drive low
@@ -2571,11 +2571,11 @@ Set a previously defined signal to the specified level.
 @end itemize
 @end deffn
 
-@deffn {Command} {ftdi_get_signal} name
+@deffn {Command} {ftdi get_signal} name
 Get the value of a previously defined signal.
 @end deffn
 
-@deffn {Command} {ftdi_tdo_sample_edge} @option{rising}|@option{falling}
+@deffn {Command} {ftdi tdo_sample_edge} @option{rising}|@option{falling}
 Configure TCK edge at which the adapter samples the value of the TDO signal
 
 Due to signal propagation delays, sampling TDO on rising TCK can become quite
diff --git a/src/jtag/drivers/ftdi.c b/src/jtag/drivers/ftdi.c
index 1a6ba590b..a3d6dacda 100644
--- a/src/jtag/drivers/ftdi.c
+++ b/src/jtag/drivers/ftdi.c
@@ -289,7 +289,7 @@ static int ftdi_speed(int speed)
 
 	if (!swd_mode && speed >= 10000000 && ftdi_jtag_mode != JTAG_MODE_ALT)
 		LOG_INFO("ftdi: if you experience problems at higher adapter clocks, try "
-			 "the command \"ftdi_tdo_sample_edge falling\"");
+			 "the command \"ftdi tdo_sample_edge falling\"");
 	return ERROR_OK;
 }
 
@@ -666,7 +666,7 @@ static int ftdi_initialize(void)
 		LOG_DEBUG("ftdi interface using shortest path jtag state transitions");
 
 	if (!ftdi_vid[0] && !ftdi_pid[0]) {
-		LOG_ERROR("Please specify ftdi_vid_pid");
+		LOG_ERROR("Please specify ftdi vid_pid");
 		return ERROR_JTAG_INIT_FAILED;
 	}
 
@@ -730,7 +730,7 @@ COMMAND_HANDLER(ftdi_handle_device_desc_command)
 		free(ftdi_device_desc);
 		ftdi_device_desc = strdup(CMD_ARGV[0]);
 	} else {
-		LOG_ERROR("expected exactly one argument to ftdi_device_desc <description>");
+		LOG_ERROR("expected exactly one argument to ftdi device_desc <description>");
 	}
 
 	return ERROR_OK;
@@ -897,12 +897,12 @@ COMMAND_HANDLER(ftdi_handle_get_signal_command)
 COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 {
 	if (CMD_ARGC > MAX_USB_IDS * 2) {
-		LOG_WARNING("ignoring extra IDs in ftdi_vid_pid "
+		LOG_WARNING("ignoring extra IDs in ftdi vid_pid "
 			"(maximum is %d pairs)", MAX_USB_IDS);
 		CMD_ARGC = MAX_USB_IDS * 2;
 	}
 	if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
-		LOG_WARNING("incomplete ftdi_vid_pid configuration directive");
+		LOG_WARNING("incomplete ftdi vid_pid configuration directive");
 		if (CMD_ARGC < 2)
 			return ERROR_COMMAND_SYNTAX_ERROR;
 		/* remove the incomplete trailing id */
@@ -917,7 +917,7 @@ COMMAND_HANDLER(ftdi_handle_vid_pid_command)
 
 	/*
 	 * Explicitly terminate, in case there are multiples instances of
-	 * ftdi_vid_pid.
+	 * ftdi vid_pid.
 	 */
 	ftdi_vid[i >> 1] = ftdi_pid[i >> 1] = 0;
 
@@ -947,30 +947,30 @@ COMMAND_HANDLER(ftdi_handle_tdo_sample_edge_command)
 	return ERROR_OK;
 }
 
-static const struct command_registration ftdi_command_handlers[] = {
+static const struct command_registration ftdi_subcommand_handlers[] = {
 	{
-		.name = "ftdi_device_desc",
+		.name = "device_desc",
 		.handler = &ftdi_handle_device_desc_command,
 		.mode = COMMAND_CONFIG,
 		.help = "set the USB device description of the FTDI device",
 		.usage = "description_string",
 	},
 	{
-		.name = "ftdi_serial",
+		.name = "serial",
 		.handler = &ftdi_handle_serial_command,
 		.mode = COMMAND_CONFIG,
 		.help = "set the serial number of the FTDI device",
 		.usage = "serial_string",
 	},
 	{
-		.name = "ftdi_channel",
+		.name = "channel",
 		.handler = &ftdi_handle_channel_command,
 		.mode = COMMAND_CONFIG,
 		.help = "set the channel of the FTDI device that is used as JTAG",
 		.usage = "(0-3)",
 	},
 	{
-		.name = "ftdi_layout_init",
+		.name = "layout_init",
 		.handler = &ftdi_handle_layout_init_command,
 		.mode = COMMAND_CONFIG,
 		.help = "initialize the FTDI GPIO signals used "
@@ -978,7 +978,7 @@ static const struct command_registration ftdi_command_handlers[] = {
 		.usage = "data direction",
 	},
 	{
-		.name = "ftdi_layout_signal",
+		.name = "layout_signal",
 		.handler = &ftdi_handle_layout_signal_command,
 		.mode = COMMAND_ANY,
 		.help = "define a signal controlled by one or more FTDI GPIO as data "
@@ -986,28 +986,28 @@ static const struct command_registration ftdi_command_handlers[] = {
 		.usage = "name [-data mask|-ndata mask] [-oe mask|-noe mask] [-alias|-nalias name]",
 	},
 	{
-		.name = "ftdi_set_signal",
+		.name = "set_signal",
 		.handler = &ftdi_handle_set_signal_command,
 		.mode = COMMAND_EXEC,
 		.help = "control a layout-specific signal",
 		.usage = "name (1|0|z)",
 	},
 	{
-		.name = "ftdi_get_signal",
+		.name = "get_signal",
 		.handler = &ftdi_handle_get_signal_command,
 		.mode = COMMAND_EXEC,
 		.help = "read the value of a layout-specific signal",
 		.usage = "name",
 	},
 	{
-		.name = "ftdi_vid_pid",
+		.name = "vid_pid",
 		.handler = &ftdi_handle_vid_pid_command,
 		.mode = COMMAND_CONFIG,
 		.help = "the vendor ID and product ID of the FTDI device",
 		.usage = "(vid pid)*",
 	},
 	{
-		.name = "ftdi_tdo_sample_edge",
+		.name = "tdo_sample_edge",
 		.handler = &ftdi_handle_tdo_sample_edge_command,
 		.mode = COMMAND_ANY,
 		.help = "set which TCK clock edge is used for sampling TDO "
@@ -1018,6 +1018,17 @@ static const struct command_registration ftdi_command_handlers[] = {
 	COMMAND_REGISTRATION_DONE
 };
 
+static const struct command_registration ftdi_command_handlers[] = {
+	{
+		.name = "ftdi",
+		.mode = COMMAND_ANY,
+		.help = "perform ftdi management",
+		.chain = ftdi_subcommand_handlers,
+		.usage = "",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
 static int create_default_signal(const char *name, uint16_t data_mask)
 {
 	struct signal *sig = create_signal(name);
diff --git a/src/jtag/startup.tcl b/src/jtag/startup.tcl
index 3060c5c06..472a9f283 100644
--- a/src/jtag/startup.tcl
+++ b/src/jtag/startup.tcl
@@ -207,4 +207,58 @@ proc "hla newtap" {args} {
 	eval swj_newdap $args
 }
 
+lappend _telnet_autocomplete_skip ftdi_device_desc
+proc ftdi_device_desc args {
+	echo "DEPRECATED! use 'ftdi device_desc' not 'ftdi_device_desc'"
+	eval ftdi device_desc $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_serial
+proc ftdi_serial args {
+	echo "DEPRECATED! use 'ftdi serial' not 'ftdi_serial'"
+	eval ftdi serial $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_channel
+proc ftdi_channel args {
+	echo "DEPRECATED! use 'ftdi channel' not 'ftdi_channel'"
+	eval ftdi channel $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_layout_init
+proc ftdi_layout_init args {
+	echo "DEPRECATED! use 'ftdi layout_init' not 'ftdi_layout_init'"
+	eval ftdi layout_init $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_layout_signal
+proc ftdi_layout_signal args {
+	echo "DEPRECATED! use 'ftdi layout_signal' not 'ftdi_layout_signal'"
+	eval ftdi layout_signal $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_set_signal
+proc ftdi_set_signal args {
+	echo "DEPRECATED! use 'ftdi set_signal' not 'ftdi_set_signal'"
+	eval ftdi set_signal $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_get_signal
+proc ftdi_get_signal args {
+	echo "DEPRECATED! use 'ftdi get_signal' not 'ftdi_get_signal'"
+	eval ftdi get_signal $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_vid_pid
+proc ftdi_vid_pid args {
+	echo "DEPRECATED! use 'ftdi vid_pid' not 'ftdi_vid_pid'"
+	eval ftdi vid_pid $args
+}
+
+lappend _telnet_autocomplete_skip ftdi_tdo_sample_edge
+proc ftdi_tdo_sample_edge args {
+	echo "DEPRECATED! use 'ftdi tdo_sample_edge' not 'ftdi_tdo_sample_edge'"
+	eval ftdi tdo_sample_edge $args
+}
+
 # END MIGRATION AIDS