diff --git a/scripts/west_commands/runners/probe_rs.py b/scripts/west_commands/runners/probe_rs.py
index 750b5b38887..f5b4335349b 100644
--- a/scripts/west_commands/runners/probe_rs.py
+++ b/scripts/west_commands/runners/probe_rs.py
@@ -5,12 +5,16 @@
 
 from runners.core import RunnerCaps, ZephyrBinaryRunner
 
+DEFAULT_PROBE_RS_GDB_HOST = 'localhost'
+DEFAULT_PROBE_RS_GDB_PORT = 1337
 
 class ProbeRsBinaryRunner(ZephyrBinaryRunner):
     '''Runner front-end for probe-rs.'''
 
     def __init__(self, cfg, chip,
                  probe_rs='probe-rs',
+                 gdb_host=DEFAULT_PROBE_RS_GDB_HOST,
+                 gdb_port=DEFAULT_PROBE_RS_GDB_PORT,
                  dev_id=None,
                  erase=False,
                  tool_opt=None):
@@ -29,13 +33,17 @@ class ProbeRsBinaryRunner(ZephyrBinaryRunner):
 
         self.elf_name = cfg.elf_file
 
+        self.gdb_cmd = cfg.gdb
+        self.gdb_host = gdb_host
+        self.gdb_port = gdb_port
+
     @classmethod
     def name(cls):
         return 'probe-rs'
 
     @classmethod
     def capabilities(cls):
-        return RunnerCaps(commands={'flash'},
+        return RunnerCaps(commands={'flash', 'debug', 'debugserver'},
                           dev_id=True,
                           erase=True,
                           tool_opt=True)
@@ -46,6 +54,11 @@ class ProbeRsBinaryRunner(ZephyrBinaryRunner):
                             help='chip name')
         parser.add_argument('--probe-rs', default='probe-rs',
                             help='path to probe-rs tool, default is probe-rs')
+        parser.add_argument('--gdb-host', default=DEFAULT_PROBE_RS_GDB_HOST,
+                            help=f'probe-rs gdb host, defaults to {DEFAULT_PROBE_RS_GDB_HOST}')
+        parser.add_argument('--gdb-port', default=DEFAULT_PROBE_RS_GDB_PORT,
+                            help=f'probe-rs gdb port, defaults to {DEFAULT_PROBE_RS_GDB_PORT}')
+
 
     @classmethod
     def dev_id_help(cls) -> str:
@@ -68,6 +81,8 @@ class ProbeRsBinaryRunner(ZephyrBinaryRunner):
         self.require(self.probe_rs)
         if command == 'flash':
             self.do_flash(**kwargs)
+        elif command in ('debug', 'debugserver'):
+            self.do_debug_debugserver(command, **kwargs)
 
     def do_flash(self, **kwargs):
         download_args = []
@@ -80,3 +95,12 @@ class ProbeRsBinaryRunner(ZephyrBinaryRunner):
 
         self.check_call([self.probe_rs, 'reset']
                         + self.args)
+
+    def do_debug_debugserver(self, command, **kwargs):
+        debug_args = ['--gdb-connection-string', f"{self.gdb_host}:{self.gdb_port}"]
+        if command == 'debug':
+            debug_args += [self.elf_name]
+            debug_args += ['--gdb', self.gdb_cmd]
+
+        self.check_call([self.probe_rs, 'gdb']
+                        + self.args + debug_args)