diff --git a/tests/sock_udp_aux/Makefile b/tests/sock_udp_aux/Makefile
new file mode 100644
index 0000000000..46b19ff524
--- /dev/null
+++ b/tests/sock_udp_aux/Makefile
@@ -0,0 +1,23 @@
+BOARD ?= nucleo-f767zi
+include ../Makefile.tests_common
+
+# Enable hardware timestamping, if possible
+FEATURES_OPTIONAL += periph_ptp periph_eth
+
+USEMODULE += auto_init_gnrc_netif
+USEMODULE += fmt
+USEMODULE += gnrc_icmpv6_echo
+USEMODULE += gnrc_ipv6_default
+USEMODULE += gnrc_netdev_default
+USEMODULE += gnrc_sock_udp
+USEMODULE += netstats_ipv6
+USEMODULE += netstats_l2
+USEMODULE += ps
+USEMODULE += shell
+USEMODULE += shell_commands
+
+USEMODULE += sock_aux_local
+USEMODULE += sock_aux_rssi
+USEMODULE += sock_aux_timestamp
+
+include $(RIOTBASE)/Makefile.include
diff --git a/tests/sock_udp_aux/Makefile.ci b/tests/sock_udp_aux/Makefile.ci
new file mode 100644
index 0000000000..87058a9a21
--- /dev/null
+++ b/tests/sock_udp_aux/Makefile.ci
@@ -0,0 +1,35 @@
+BOARD_INSUFFICIENT_MEMORY := \
+    arduino-duemilanove \
+    arduino-leonardo \
+    arduino-mega2560 \
+    arduino-nano \
+    arduino-nano-33-iot \
+    arduino-uno \
+    atmega1284p \
+    atmega328p \
+    calliope-mini \
+    derfmega128 \
+    i-nucleo-lrwan1 \
+    mega-xplained \
+    microduino-corerf \
+    msb-430 \
+    msb-430h \
+    nucleo-f030r8 \
+    nucleo-f031k6 \
+    nucleo-f042k6 \
+    nucleo-f303k8 \
+    nucleo-f334r8 \
+    nucleo-f410rb \
+    nucleo-l011k4 \
+    nucleo-l031k6 \
+    nucleo-l053r8 \
+    samd10-xmini \
+    slstk3400a \
+    stk3200 \
+    stm32f030f4-demo \
+    stm32f0discovery \
+    stm32l0538-disco \
+    telosb \
+    waspmote-pro \
+    z1 \
+    #
diff --git a/tests/sock_udp_aux/main.c b/tests/sock_udp_aux/main.c
new file mode 100644
index 0000000000..f755d38684
--- /dev/null
+++ b/tests/sock_udp_aux/main.c
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2020 Otto-von-Guericke-Universität Magdeburg
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       Test application for accessing auxiliary data using the UDP SOCK API
+ *
+ * @author      Marian Buschsieweke <marian.buschsieweke@ovgu.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include "fmt.h"
+#include "net/sock/udp.h"
+#include "shell.h"
+#include "shell_commands.h"
+#include "net/ipv6/addr.h"
+
+#define MAIN_QUEUE_SIZE     (8)
+
+#define PORT_UDP            12345
+#define _QUOTE(x)           #x
+#define QUOTE(x)            _QUOTE(x)
+
+static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
+char server_thread_stack[THREAD_STACKSIZE_DEFAULT];
+
+static const sock_aux_flags_t flags_rx = SOCK_AUX_GET_LOCAL
+                                       | SOCK_AUX_GET_TIMESTAMP
+                                       | SOCK_AUX_GET_RSSI;
+static const sock_aux_flags_t flags_tx = SOCK_AUX_GET_TIMESTAMP;
+
+static void *server_thread(void *arg)
+{
+    (void)arg;
+    sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
+    sock_udp_t sock;
+    local.port = PORT_UDP;
+    if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
+        print_str("Error creating UDP sock\n");
+        return NULL;
+    }
+    print_str("UDP echo server listening at port " QUOTE(PORT_UDP) "\n");
+    while (1) {
+        sock_udp_ep_t remote;
+        ssize_t res;
+        sock_udp_aux_rx_t rx_aux = { .flags = flags_rx };
+        sock_udp_aux_tx_t tx_aux = { .flags = flags_tx };
+        char buf[128];
+        if (0 <= (res = sock_udp_recv_aux(&sock, buf, sizeof(buf),
+                                          SOCK_NO_TIMEOUT, &remote, &rx_aux)))
+            {
+            print_str("Received a message via: [");
+            if (!(rx_aux.flags & SOCK_AUX_GET_LOCAL)) {
+                char tmp[IPV6_ADDR_MAX_STR_LEN + 1];
+                ipv6_addr_to_str(tmp, (ipv6_addr_t *)rx_aux.local.addr.ipv6,
+                                 sizeof(tmp));
+                print_str(tmp);
+                print_str("]:");
+                print_u32_dec(rx_aux.local.port);
+                print_str("\n");
+            }
+            else {
+                print_str("Unknown endpoint\n");
+            }
+            print_str("Received a message at: ");
+            if (!(rx_aux.flags & SOCK_AUX_GET_TIMESTAMP)) {
+                print_u64_dec(rx_aux.timestamp);
+                print_str(" ns\n");
+            }
+            else {
+                print_str("No timestamp\n");
+            }
+            print_str("Received a message with: ");
+            if (!(rx_aux.flags & SOCK_AUX_GET_RSSI)) {
+                print_s32_dec(rx_aux.rssi);
+                print_str(" dBm\n");
+            }
+            else {
+                print_str("No RSSI value\n");
+            }
+            if (sock_udp_send_aux(&sock, buf, res, &remote, &tx_aux) < 0) {
+                print_str("Error sending reply\n");
+            }
+            else {
+                print_str("Sent echo at: ");
+                if (!(tx_aux.flags & SOCK_AUX_GET_TIMESTAMP)) {
+                    print_u64_dec(tx_aux.timestamp);
+                    print_str(" ns\n");
+                }
+                else {
+                    print_str("No timestamp\n");
+                }
+            }
+        }
+    }
+    return 0;
+}
+
+int main(void)
+{
+    /* we need a message queue for the thread running the shell in order to
+     * receive potentially fast incoming networking packets */
+    msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
+
+    thread_create(server_thread_stack, sizeof(server_thread_stack),
+                  THREAD_PRIORITY_MAIN - 1, THREAD_CREATE_STACKTEST,
+                  server_thread, NULL, "UDP echo server");
+
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(NULL, line_buf, SHELL_DEFAULT_BUFSIZE);
+
+    return 0;
+}