diff --git a/doc/openocd.texi b/doc/openocd.texi
index 138922d08..7bf0fe98b 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -3131,6 +3131,26 @@ Specifies the serial number of the adapter.
 @deffn {Config Command} {st-link vid_pid} [vid pid]+
 Pairs of vendor IDs and product IDs of the device.
 @end deffn
+
+@deffn {Command} {st-link cmd} rx_n (tx_byte)+
+Sends an arbitrary command composed by the sequence of bytes @var{tx_byte}
+and receives @var{rx_n} bytes.
+
+For example, the command to read the target's supply voltage is one byte 0xf7 followed
+by 15 bytes zero. It returns 8 bytes, where the first 4 bytes represent the ADC sampling
+of the reference voltage 1.2V and the last 4 bytes represent the ADC sampling of half
+the target's supply voltage.
+@example
+> st-link cmd 8 0xf7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+0xf1 0x05 0x00 0x00 0x0b 0x08 0x00 0x00
+@end example
+The result can be converted to Volts (ignoring the most significant bytes, always zero)
+@example
+> set a [st-link cmd 8 0xf7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+> echo [expr 2*1.2*([lindex $a 4]+256*[lindex $a 5])/([lindex $a 0]+256*[lindex $a 1])]
+3.24891518738
+@end example
+@end deffn
 @end deffn
 
 @deffn {Interface Driver} {opendous}
diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c
index 4bd07b49f..a52370863 100644
--- a/src/jtag/drivers/stlink_usb.c
+++ b/src/jtag/drivers/stlink_usb.c
@@ -4222,6 +4222,43 @@ COMMAND_HANDLER(stlink_dap_backend_command)
 	return ERROR_OK;
 }
 
+#define BYTES_PER_LINE 16
+COMMAND_HANDLER(stlink_dap_cmd_command)
+{
+	unsigned int rx_n, tx_n;
+	struct stlink_usb_handle_s *h = stlink_dap_handle;
+
+	if (CMD_ARGC < 2)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], rx_n);
+	tx_n = CMD_ARGC - 1;
+	if (tx_n > STLINK_SG_SIZE || rx_n > STLINK_DATA_SIZE) {
+		LOG_ERROR("max %x byte sent and %d received", STLINK_SG_SIZE, STLINK_DATA_SIZE);
+		return ERROR_COMMAND_SYNTAX_ERROR;
+	}
+
+	stlink_usb_init_buffer(h, h->rx_ep, rx_n);
+
+	for (unsigned int i = 0; i < tx_n; i++) {
+		uint8_t byte;
+		COMMAND_PARSE_NUMBER(u8, CMD_ARGV[i + 1], byte);
+		h->cmdbuf[h->cmdidx++] = byte;
+	}
+
+	int retval = stlink_usb_xfer_noerrcheck(h, h->databuf, rx_n);
+	if (retval != ERROR_OK) {
+		LOG_ERROR("Error %d", retval);
+		return retval;
+	}
+
+	for (unsigned int i = 0; i < rx_n; i++)
+		command_print_sameline(CMD, "0x%02x%c", h->databuf[i],
+			((i == (rx_n - 1)) || ((i % BYTES_PER_LINE) == (BYTES_PER_LINE - 1))) ? '\n' : ' ');
+
+	return ERROR_OK;
+}
+
 /** */
 static const struct command_registration stlink_dap_subcommand_handlers[] = {
 	{
@@ -4245,6 +4282,13 @@ static const struct command_registration stlink_dap_subcommand_handlers[] = {
 		.help = "select which ST-Link backend to use",
 		.usage = "usb | tcp [port]",
 	},
+	{
+		.name = "cmd",
+		.handler = stlink_dap_cmd_command,
+		.mode = COMMAND_EXEC,
+		.help = "send arbitrary command",
+		.usage = "rx_n (tx_byte)+",
+	},
 	COMMAND_REGISTRATION_DONE
 };