diff --git a/proto/gz/msgs/dvl_beam_state.proto b/proto/gz/msgs/dvl_beam_state.proto
new file mode 100644
index 00000000..bba2b42d
--- /dev/null
+++ b/proto/gz/msgs/dvl_beam_state.proto
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DVLBeamStateProtos";
+
+/// \ingroup gz.msgs
+/// \interface DVLBeamState
+/// \brief State of some acoustic beam in a Doppler Velocity Log sensor. Each beam, when locked,
+/// estimates the distance to the reflecting target as well as its velocity in some reference
+/// frame. Some additional attributes may also be available.
+
+import "gz/msgs/dvl_kinematic_estimate.proto";
+import "gz/msgs/dvl_range_estimate.proto";
+
+message DVLBeamState
+{
+  /// \brief Beam ID.
+  int32 id = 1;
+
+  /// \brief Beam velocity estimate, measured along
+  /// its axis, in meters per second.
+  DVLKinematicEstimate velocity = 2;
+
+  /// \brief Beam range estimate, in meters.
+  DVLRangeEstimate range = 3;
+
+  /// \brief Beam signal strength indicator.
+  double rssi = 4;
+
+  /// \brief Measured background noise spectral density,
+  /// in watts per hertz.
+  double nsd = 5;
+
+  /// \brief Whether beam is locked to its target or not.
+  /// A beam is said to be locked when it can reliably
+  /// measure signal reflections.
+  bool locked = 6;
+}
diff --git a/proto/gz/msgs/dvl_kinematic_estimate.proto b/proto/gz/msgs/dvl_kinematic_estimate.proto
new file mode 100644
index 00000000..e2282f77
--- /dev/null
+++ b/proto/gz/msgs/dvl_kinematic_estimate.proto
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DVLKinematicEstimateProtos";
+
+/// \ingroup gz.msgs
+/// \interface DVLKinematicEstimate
+/// \brief Kinematic quantity (e.g. position, velocity, etc.) estimate in some reference
+/// frame, as reported by a Doppler Velocity Log sensor. This estimate is characterized by
+/// mean and covariance of some implicit multivariate distribution (typically a multivariate
+/// normal distribution).
+
+import "gz/msgs/vector3d.proto";
+
+message DVLKinematicEstimate
+{
+  /// \brief Frames of reference (incl. conventions)
+  enum ReferenceType
+  {
+     /// \brief Unspecific frame of reference.
+     DVL_REFERENCE_UNSPECIFIED = 0;
+     /// \brief Earth bound frame of reference (typically ENU).
+     DVL_REFERENCE_EARTH = 1;
+     /// \brief Ship bound frame of reference (typically FSK).
+     DVL_REFERENCE_SHIP = 2;
+  };
+  /// \brief Estimate frame of reference (incl. conventions).
+  ReferenceType reference = 1;
+
+  /// \brief Estimate mean.
+  Vector3d mean = 2;
+
+  /// \brief Estimate covariance matrix.
+  /// A 3 x 3 row-major matrix using a flat contiguous layout.
+  repeated double covariance = 3;
+}
diff --git a/proto/gz/msgs/dvl_range_estimate.proto b/proto/gz/msgs/dvl_range_estimate.proto
new file mode 100644
index 00000000..6fb72059
--- /dev/null
+++ b/proto/gz/msgs/dvl_range_estimate.proto
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DVLRangeEstimateProtos";
+
+/// \ingroup gz.msgs
+/// \interface DVLRangeEstimate
+/// \brief Range estimate as reported by a Doppler Velocity Log sensor. This estimate is
+/// characterized by mean and variance of some implicit scalar distribution (typically a 
+/// normal distribution).
+
+message DVLRangeEstimate
+{
+   /// \brief Estimate mean.
+   double mean = 1;
+
+   /// \brief Estimate variance.
+   double variance = 2;
+}
diff --git a/proto/gz/msgs/dvl_tracking_target.proto b/proto/gz/msgs/dvl_tracking_target.proto
new file mode 100644
index 00000000..6e9362e7
--- /dev/null
+++ b/proto/gz/msgs/dvl_tracking_target.proto
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DVLTrackingTargetProtos";
+
+/// \ingroup gz.msgs
+/// \interface DVLTrackingTarget
+/// \brief Target used for tracking by a Doppler Velocity Log sensor. Either a bottom ground
+/// or a water mass target. Estimates of target range and position in some reference frame
+/// may be provided.
+
+import "gz/msgs/dvl_kinematic_estimate.proto";
+import "gz/msgs/dvl_range_estimate.proto";
+
+message DVLTrackingTarget
+{
+  /// \brief Target types
+  enum TargetType
+  {
+    /// \brief Unspecific target type.
+    DVL_TARGET_UNSPECIFIED = 0;
+    /// \brief Bottom ground (ie. solid) target.
+    DVL_TARGET_BOTTOM = 1;
+    /// \brief Water mass layer (ie. fluid) target.
+    DVL_TARGET_WATER_MASS = 2;
+  };
+  /// \brief Type of target used for tracking.
+  TargetType type = 1;
+
+  /// \brief Target range (or distance), in meters
+  DVLRangeEstimate range = 2;
+
+  /// \brief Target position estimate, in meters.
+  DVLKinematicEstimate position = 3;
+}
diff --git a/proto/gz/msgs/dvl_velocity_tracking.proto b/proto/gz/msgs/dvl_velocity_tracking.proto
new file mode 100644
index 00000000..c54dce0a
--- /dev/null
+++ b/proto/gz/msgs/dvl_velocity_tracking.proto
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DVLVelocityTrackingProtos";
+
+/// \ingroup gz.msgs
+/// \interface DVLVelocityTracking
+/// \brief Velocity tracking estimates from a Doppler Velocity Log sensor.
+/// Doppler velocity logs are used by the maritime community to track the velocity
+/// of a vessel with respect to some (reflecting) target.
+
+import "gz/msgs/header.proto";
+import "gz/msgs/dvl_beam_state.proto";
+import "gz/msgs/dvl_tracking_target.proto";
+import "gz/msgs/dvl_kinematic_estimate.proto";
+
+message DVLVelocityTracking
+{
+  /// \brief Message header.
+  Header header = 1;
+
+  /// \brief DVL types.
+  enum DVLType
+  {
+    /// \brief Unspecific DVL type.
+    DVL_TYPE_UNSPECIFIED = 0;
+    /// \brief Piston DVLs.
+    DVL_TYPE_PISTON = 1;
+    /// \brief Phased array DVLs.
+    DVL_TYPE_PHASED_ARRAY = 2;
+  };
+  /// \brief Type of DVL.
+  DVLType type = 2;
+
+  /// \brief Locked on target.
+  DVLTrackingTarget target = 3;
+
+  /// \brief Estimated velocity of either target or sensor
+  /// w.r.t. the specified frame, in meters per second.
+  DVLKinematicEstimate velocity = 4;
+
+  /// \brief Tracking beams' state.
+  repeated DVLBeamState beams = 5;
+
+  /// \brief Vendor-specific status (e.g. bitmask, error code).
+  int32 status = 6;
+}