diff --git a/doc/develop/modules.rst b/doc/develop/modules.rst
index ff8f3781d45..352edfb963f 100644
--- a/doc/develop/modules.rst
+++ b/doc/develop/modules.rst
@@ -1050,6 +1050,25 @@ requirement files in the ``scripts`` directory of the module.
           - scripts/requirements-build.txt
           - scripts/requirements-doc.txt
 
+
+.. _modules-runners:
+
+External Runners
+================
+
+If a module has out of tree boards that require custom :ref:`runners <west-runner>`,
+then it can add a list to its ``zephyr/module.yml`` file, for example:
+
+
+.. code-block:: yaml
+
+    runners:
+      - file: scripts/my-runner.py
+
+
+Each file entry is imported when executing ``west flash`` or ``west debug`` and
+subclasses of the ``ZephyrBinaryRunner`` are registered for use.
+
 Module Inclusion
 ================
 
diff --git a/doc/develop/west/build-flash-debug.rst b/doc/develop/west/build-flash-debug.rst
index c45a4551843..2b7dd3ecd3b 100644
--- a/doc/develop/west/build-flash-debug.rst
+++ b/doc/develop/west/build-flash-debug.rst
@@ -779,6 +779,19 @@ To view all available options Renode supports, use::
 
   west simulate --runner=renode --renode-help
 
+Out of tree runners
+*******************
+
+:ref:`Zephyr modules <modules>` can have external runners discovered by adding python
+files in their :ref:`module.yml <modules-runners>`. Create an external runner class by
+inheriting from ``ZephyrBinaryRunner`` and implement all abstract methods.
+
+.. note::
+
+   Support for custom out-of-tree runners makes the ``runners.core`` module part of
+   the public API and backwards incompatible changes need to undergo the
+   :ref:`deprecation process <breaking_api_changes>`.
+
 Hacking
 *******
 
@@ -786,11 +799,6 @@ This section documents the ``runners.core`` module used by the
 flash and debug commands. This is the core abstraction used to implement
 support for these features.
 
-.. warning::
-
-   These APIs are provided for reference, but they are more "shared code" used
-   to implement multiple extension commands than a stable API.
-
 Developers can add support for new ways to flash and debug Zephyr programs by
 implementing additional runners. To get this support into upstream Zephyr, the
 runner should be added into a new or existing ``runners`` module, and imported