diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index b18e0186e..4ef4c0a2c 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -1543,6 +1543,12 @@ printer config file. See the
 [printer config section](Config_Reference.md#printer) for a
 description of each parameter.
 
+### RESET_VELOCITY_LIMIT
+`RESET_VELOCITY_LIMIT`: This command resets the velocity limits to the values
+specified in the printer config file. See the
+[printer config section](Config_Reference.md#printer) for a
+description of each parameter.
+
 #### ⚠️ SET_KINEMATICS_LIMIT
 
 `SET_KINEMATICS_LIMIT [<X,Y,Z>_ACCEL=<value>] [<X,Y,Z>_VELOCITY=<value>]
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 0b6cfe2cb..59df059ef 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -283,6 +283,11 @@ def __init__(self, config):
         self.square_corner_velocity = config.getfloat(
             "square_corner_velocity", 5.0, minval=0.0
         )
+        self.orig_cfg = {}
+        self.orig_cfg["max_velocity"] = self.max_velocity
+        self.orig_cfg["max_accel"] = self.max_accel
+        self.orig_cfg["min_cruise_ratio"] = self.min_cruise_ratio
+        self.orig_cfg["square_corner_velocity"] = self.square_corner_velocity
         self.junction_deviation = self.max_accel_to_decel = 0
         self._calc_junction_deviation()
         # Input stall detection
@@ -346,6 +351,11 @@ def __init__(self, config):
             self.cmd_SET_VELOCITY_LIMIT,
             desc=self.cmd_SET_VELOCITY_LIMIT_help,
         )
+        gcode.register_command(
+            "RESET_VELOCITY_LIMIT",
+            self.cmd_RESET_VELOCITY_LIMIT,
+            desc=self.cmd_RESET_VELOCITY_LIMIT_help,
+        )
         gcode.register_command("M204", self.cmd_M204)
         self.printer.register_event_handler(
             "klippy:shutdown", self._handle_shutdown
@@ -822,6 +832,22 @@ def cmd_SET_VELOCITY_LIMIT(self, gcmd):
         ):
             gcmd.respond_info("\n".join(msg), log=False)
 
+    cmd_RESET_VELOCITY_LIMIT_help = "Reset printer velocity limits"
+
+    def cmd_RESET_VELOCITY_LIMIT(self, gcmd):
+        self.max_velocity = self.orig_cfg["max_velocity"]
+        self.max_accel = self.orig_cfg["max_accel"]
+        self.square_corner_velocity = self.orig_cfg["square_corner_velocity"]
+        self.min_cruise_ratio = self.orig_cfg["min_cruise_ratio"]
+        self._calc_junction_deviation()
+        msg = (
+            "max_velocity: %.6f" % self.max_velocity,
+            "max_accel: %.6f" % self.max_accel,
+            "minimum_cruise_ratio: %.6f" % self.min_cruise_ratio,
+            "square_corner_velocity: %.6f" % self.square_corner_velocity,
+        )
+        gcmd.respond_info("\n".join(msg), log=False)
+
     def cmd_M204(self, gcmd):
         # Use S for accel
         accel = gcmd.get_float("S", None, above=0.0)
diff --git a/test/klippy/commands.test b/test/klippy/commands.test
index e838ae25f..fcf095951 100644
--- a/test/klippy/commands.test
+++ b/test/klippy/commands.test
@@ -39,6 +39,8 @@ SET_GCODE_OFFSET Z_ADJUST=-.1
 SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 ACCEL_TO_DECEL=200
 M204 S500
 
+RESET_VELOCITY_LIMIT
+
 SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001
 SET_PRESSURE_ADVANCE ADVANCE=.002 ADVANCE_LOOKAHEAD_TIME=.001