diff --git a/docs/en/sim_gazebo_gz/index.md b/docs/en/sim_gazebo_gz/index.md
index 65811dc38d..0fb6fcc192 100644
--- a/docs/en/sim_gazebo_gz/index.md
+++ b/docs/en/sim_gazebo_gz/index.md
@@ -228,6 +228,49 @@ In addition to being a precondition for running the simulation faster/slower tha
 Lockstep cannot be disabled on Gazebo.
 :::
 
+### Video Streaming
+ 
+Some models (e.g. `gz_x500_mono_cam`, `gz_x500_gimbal`) include a camera and support video streaming. By default, the stream is published over UDP on port 5600 using the RTP protocol.
+ 
+#### Prerequisites
+ 
+GStreamer 1.0 is required. The necessary dependencies are included in the standard PX4 installation scripts for Ubuntu Linux and macOS.
+ 
+::: info
+Required packages: `gstreamer1.0-plugins-base`, `gstreamer1.0-plugins-good`, `gstreamer1.0-plugins-bad`, `gstreamer1.0-plugins-ugly`, `libgstreamer-plugins-base1.0-dev`. If missing, install them via `apt` or your system package manager.
+:::
+ 
+#### Viewing the Video Stream
+ 
+**QGroundControl (recommended)**
+ 
+Open **Application Settings > General**, set **Video Source** to _UDP h.264 Video Stream_, and set **UDP Port** to `5600`.
+ 
+![QGC Video Streaming Settings for Gazebo](../../assets/simulation/gazebo_classic/qgc_gazebo_video_stream_udp.png)
+ 
+The Gazebo video feed will then appear in QGroundControl exactly as it would from a real camera.
+ 
+![QGC Video Streaming Gazebo Example](../../assets/simulation/gazebo_classic/qgc_gazebo_video_stream_typhoon.jpg)
+ 
+**GStreamer pipeline**
+ 
+To view the stream directly from a terminal:
+ 
+```sh
+gst-launch-1.0 -v udpsrc port=5600 \
+  caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' \
+  ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
+```
+ 
+#### Multi-Vehicle Simulation
+ 
+In a multi-vehicle simulation, each vehicle instance streams to a separate port starting from `5600` — i.e. `5600`, `5601`, `5602`, and so on. If an instance (other than the first, which acts as the Gazebo world host) is restarted, it resumes streaming on its originally assigned port.
+
+#### Advanced Usage
+
+The default port and protocol (RTP) can be changed by modifying the world's SDF file.
+See the [GStreamer plugin README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/gstreamer/README.md) for details.
+
 ## Usage/Configuration Options
 
 The startup pipeline allows for highly flexible configuration.