diff --git a/doc/develop/tools/img/stm32cube_import_project.webp b/doc/develop/tools/img/stm32cube_import_project.webp
new file mode 100644
index 00000000000..81bbc632cab
Binary files /dev/null and b/doc/develop/tools/img/stm32cube_import_project.webp differ
diff --git a/doc/develop/tools/img/stm32cube_menu_import.webp b/doc/develop/tools/img/stm32cube_menu_import.webp
new file mode 100644
index 00000000000..dc70bd89ecf
Binary files /dev/null and b/doc/develop/tools/img/stm32cube_menu_import.webp differ
diff --git a/doc/develop/tools/stm32cubeide.rst b/doc/develop/tools/stm32cubeide.rst
index 73e160ee1eb..2b1eae3a01c 100644
--- a/doc/develop/tools/stm32cubeide.rst
+++ b/doc/develop/tools/stm32cubeide.rst
@@ -87,6 +87,33 @@ Project Setup
    The project can be run using the :guilabel:`Run` button, as well as debugged
    using the :guilabel:`Debug` button.
 
+Debugging only
+**************
+
+If you only want to use STM32CubeIDE to debug your project you can proceed as follows:
+
+#. First, make sure to compile your project and have the ``zephyr.elf`` available.
+
+#. Run STM32CubeIDE and import your project by going to :menuselection:`File --> Import...`:
+
+   .. figure:: img/stm32cube_menu_import.webp
+      :align: center
+      :alt: Import project
+
+#. Select :menuselection:`C/C++ --> STM32 Cortex-M Executable`, then click :guilabel:`Next`:
+
+   .. figure:: img/stm32cube_import_project.webp
+      :align: center
+      :alt: Import project selection
+
+#. Click on :guilabel:`Browse` to browse to your build folder and select your ``zephyr.elf``.
+
+#. Click on :guilabel:`Select` to select your MCU. If relevant, choose also your CPU and/or core.
+
+#. Click on :guilabel:`Finish`.
+
+#. The project can now be debugged using the :guilabel:`Debug` button.
+
 Troubleshooting
 ***************