diff --git a/doc/develop/modules.rst b/doc/develop/modules.rst
index ff8f3781d45fb..352edfb963fd5 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 c45a4551843e9..2b7dd3ecd3ba6 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
diff --git a/scripts/west_commands/run_common.py b/scripts/west_commands/run_common.py
index adfd2922fb98d..e5492ad2f7b89 100644
--- a/scripts/west_commands/run_common.py
+++ b/scripts/west_commands/run_common.py
@@ -6,6 +6,7 @@
 '''Common code used by commands which execute runners.
 '''
 
+import importlib.util
 import re
 import argparse
 import logging
@@ -28,7 +29,8 @@
 from runners.core import BuildConfiguration
 import yaml
 
-from zephyr_ext_common import ZEPHYR_SCRIPTS
+import zephyr_module
+from zephyr_ext_common import ZEPHYR_BASE, ZEPHYR_SCRIPTS
 
 # Runners depend on edtlib. Make sure the copy in the tree is
 # available to them before trying to import any.
@@ -107,6 +109,13 @@ class SocBoardFilesProcessing:
     priority: int = IGNORED_RUN_ONCE_PRIORITY
     yaml: object = None
 
+def import_from_path(module_name, file_path):
+    spec = importlib.util.spec_from_file_location(module_name, file_path)
+    module = importlib.util.module_from_spec(spec)
+    sys.modules[module_name] = module
+    spec.loader.exec_module(module)
+    return module
+
 def command_verb(command):
     return "flash" if command.name == "flash" else "debug"
 
@@ -197,6 +206,14 @@ def do_run_common(command, user_args, user_runner_args, domain_file=None):
         dump_context(command, user_args, user_runner_args)
         return
 
+    # Import external module runners
+    for module in zephyr_module.parse_modules(ZEPHYR_BASE, command.manifest):
+        runners_ext = module.meta.get("runners", [])
+        for runner in runners_ext:
+            import_from_path(
+                module.meta.get("name", "runners_ext"), Path(module.project) / runner["file"]
+            )
+
     build_dir = get_build_dir(user_args)
     if not user_args.skip_rebuild:
         rebuild(command, build_dir, user_args)
diff --git a/scripts/zephyr_module.py b/scripts/zephyr_module.py
index ae2c35cc62d18..22369aa8295b1 100755
--- a/scripts/zephyr_module.py
+++ b/scripts/zephyr_module.py
@@ -174,6 +174,15 @@
             type: seq
             sequence:
               - type: str
+  runners:
+    required: false
+    type: seq
+    sequence:
+      - type: map
+        mapping:
+          file:
+            required: true
+            type: str
 '''
 
 MODULE_YML_PATH = PurePath('zephyr/module.yml')