diff --git a/subsys/bluetooth/shell/bt.c b/subsys/bluetooth/shell/bt.c
index 356b784cf7..a0bd437a33 100644
--- a/subsys/bluetooth/shell/bt.c
+++ b/subsys/bluetooth/shell/bt.c
@@ -147,6 +147,8 @@ static struct bt_scan_filter {
 	bool pa_interval_set;
 } scan_filter;
 
+static const char scan_response_label[] = "[DEVICE]: ";
+static bool scan_verbose_output;
 
 /**
  * @brief Compares two strings without case sensitivy
@@ -194,11 +196,94 @@ static bool data_cb(struct bt_data *data, void *user_data)
 	}
 }
 
+static void print_data_set(uint8_t type, uint8_t set_value_len,
+			   const uint8_t *scan_data, uint8_t scan_data_len)
+{
+	uint8_t min_value_len = MIN(set_value_len, scan_data_len);
+
+	shell_fprintf(ctx_shell, SHELL_INFO, "%*sType 0x%02x: ",
+		      strlen(scan_response_label), "",
+		      type);
+	for (uint8_t i = 0U; i < (scan_data_len / min_value_len); i++) {
+		if (i > 0L) {
+			shell_fprintf(ctx_shell, SHELL_INFO, ", ");
+		}
+
+		shell_fprintf(ctx_shell, SHELL_INFO, "0x");
+		for (uint8_t j = 0U; j < min_value_len; j++) {
+			shell_fprintf(ctx_shell, SHELL_INFO, "%02x",
+				      scan_data[i * min_value_len + j]);
+		}
+	}
+
+	shell_fprintf(ctx_shell, SHELL_INFO, "\n");
+}
+
+static bool data_verbose_cb(struct bt_data *data, void *user_data)
+{
+	switch (data->type) {
+	case BT_DATA_UUID16_SOME:
+	case BT_DATA_UUID16_ALL:
+	case BT_DATA_SOLICIT16:
+	case BT_DATA_SVC_DATA16:
+		print_data_set(data->type, 2, data->data, data->data_len);
+		break;
+	case BT_DATA_UUID32_SOME:
+	case BT_DATA_UUID32_ALL:
+	case BT_DATA_SVC_DATA32:
+		print_data_set(data->type, 4, data->data, data->data_len);
+		break;
+	case BT_DATA_UUID128_SOME:
+	case BT_DATA_UUID128_ALL:
+	case BT_DATA_SOLICIT128:
+	case BT_DATA_SVC_DATA128:
+		print_data_set(data->type, 16, data->data, data->data_len);
+		break;
+	case BT_DATA_NAME_SHORTENED:
+	case BT_DATA_NAME_COMPLETE:
+	case BT_DATA_BROADCAST_NAME:
+		shell_info(ctx_shell, "%*sType 0x%02x: %.*s",
+			   strlen(scan_response_label), "",
+			   data->type,  data->data_len, data->data);
+		break;
+	case BT_DATA_PUB_TARGET_ADDR:
+	case BT_DATA_RAND_TARGET_ADDR:
+	case BT_DATA_LE_BT_DEVICE_ADDRESS:
+		print_data_set(data->type, BT_ADDR_SIZE, data->data, data->data_len);
+		break;
+	default:
+		print_data_set(data->type, 1, data->data, data->data_len);
+	}
+
+	return true;
+}
+
+static const char *scan_response_type_txt(uint8_t type)
+{
+	switch (type) {
+	case BT_GAP_ADV_TYPE_ADV_IND:
+		return "ADV_IND";
+	case BT_GAP_ADV_TYPE_ADV_DIRECT_IND:
+		return "ADV_DIRECT_IND";
+	case BT_GAP_ADV_TYPE_ADV_SCAN_IND:
+		return "ADV_SCAN_IND";
+	case BT_GAP_ADV_TYPE_ADV_NONCONN_IND:
+		return "ADV_NONCONN_IND";
+	case BT_GAP_ADV_TYPE_SCAN_RSP:
+		return "SCAN_RSP";
+	case BT_GAP_ADV_TYPE_EXT_ADV:
+		return "EXT_ADV";
+	default:
+		return "UNKNOWN";
+	}
+}
+
 static void scan_recv(const struct bt_le_scan_recv_info *info,
 		      struct net_buf_simple *buf)
 {
 	char le_addr[BT_ADDR_LE_STR_LEN];
 	char name[NAME_LEN];
+	struct net_buf_simple buf_copy;
 
 	if (scan_filter.rssi_set && (scan_filter.rssi > info->rssi)) {
 		return;
@@ -210,6 +295,11 @@ static void scan_recv(const struct bt_le_scan_recv_info *info,
 		return;
 	}
 
+	if (scan_verbose_output) {
+		/* call to bt_data_parse consumes netbufs so shallow clone for verbose output */
+		net_buf_simple_clone(buf, &buf_copy);
+	}
+
 	(void)memset(name, 0, sizeof(name));
 
 	bt_data_parse(buf, data_cb, name);
@@ -223,9 +313,10 @@ static void scan_recv(const struct bt_le_scan_recv_info *info,
 		return;
 	}
 
-	shell_print(ctx_shell, "[DEVICE]: %s, AD evt type %u, RSSI %i %s "
+	shell_print(ctx_shell, "%s%s, AD evt type %u, RSSI %i %s "
 		    "C:%u S:%u D:%d SR:%u E:%u Prim: %s, Secn: %s, "
 		    "Interval: 0x%04x (%u us), SID: 0x%x",
+		    scan_response_label,
 		    le_addr, info->adv_type, info->rssi, name,
 		    (info->adv_props & BT_GAP_ADV_PROP_CONNECTABLE) != 0,
 		    (info->adv_props & BT_GAP_ADV_PROP_SCANNABLE) != 0,
@@ -236,6 +327,15 @@ static void scan_recv(const struct bt_le_scan_recv_info *info,
 		    info->interval, BT_CONN_INTERVAL_TO_US(info->interval),
 		    info->sid);
 
+	if (scan_verbose_output) {
+		shell_info(ctx_shell,
+			   "%*s[SCAN DATA START - %s]",
+			   strlen(scan_response_label), "",
+			   scan_response_type_txt(info->adv_type));
+		bt_data_parse(&buf_copy, data_verbose_cb, NULL);
+		shell_info(ctx_shell, "%*s[SCAN DATA END]", strlen(scan_response_label), "");
+	}
+
 	/* Store address for later use */
 #if defined(CONFIG_BT_CENTRAL)
 	auto_connect.addr_set = true;
@@ -1137,6 +1237,23 @@ static int cmd_scan(const struct shell *sh, size_t argc, char *argv[])
 	return 0;
 }
 
+static int cmd_scan_verbose_output(const struct shell *sh, size_t argc, char *argv[])
+{
+	const char *verbose_state;
+
+	verbose_state = argv[1];
+	if (!strcmp(verbose_state, "on")) {
+		scan_verbose_output = true;
+	} else if (!strcmp(verbose_state, "off")) {
+		scan_verbose_output = false;
+	} else {
+		shell_help(sh);
+		return SHELL_CMD_HELP_PRINTED;
+	}
+
+	return 0;
+}
+
 static int cmd_scan_filter_set_name(const struct shell *sh, size_t argc,
 				    char *argv[])
 {
@@ -3735,6 +3852,7 @@ SHELL_STATIC_SUBCMD_SET_CREATE(bt_cmds,
 	SHELL_CMD(scan-filter-clear, &bt_scan_filter_clear_cmds,
 		      "Scan filter clear commands",
 		      cmd_default_handler),
+	SHELL_CMD_ARG(scan-verbose-output, NULL, "<value: on, off>", cmd_scan_verbose_output, 2, 0),
 #endif /* CONFIG_BT_OBSERVER */
 #if defined(CONFIG_BT_BROADCASTER)
 	SHELL_CMD_ARG(advertise, NULL,