diff --git a/tools/extract_audio/extract_audio.py b/tools/extract_audio/extract_audio.py
new file mode 100755
index 0000000000..a77ae2e878
--- /dev/null
+++ b/tools/extract_audio/extract_audio.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import sys
+import wave
+import argparse
+import numpy as np
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+def extract_audio(route_or_segment_name, output_file=None, play=False):
+  lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
+  audio_messages = list(lr.filter("audioData"))
+  if not audio_messages:
+    print("No audioData messages found in logs")
+    return
+  sample_rate = audio_messages[0].sampleRate
+
+  audio_chunks = []
+  total_frames = 0
+  for msg in audio_messages:
+    audio_array = np.frombuffer(msg.data, dtype=np.int16)
+    audio_chunks.append(audio_array)
+    total_frames += len(audio_array)
+  full_audio = np.concatenate(audio_chunks)
+
+  print(f"Found {total_frames} frames from {len(audio_messages)} audio messages at {sample_rate} Hz")
+
+  if output_file:
+    write_wav_file(output_file, full_audio, sample_rate)
+    print(f"Audio written to {output_file}")
+  if play:
+    play_audio(full_audio, sample_rate)
+
+
+def write_wav_file(filename, audio_data, sample_rate):
+  with wave.open(filename, 'wb') as wav_file:
+    wav_file.setnchannels(1)  # Mono
+    wav_file.setsampwidth(2)  # 16-bit
+    wav_file.setframerate(sample_rate)
+    wav_file.writeframes(audio_data.tobytes())
+
+
+def play_audio(audio_data, sample_rate):
+  try:
+    import sounddevice as sd
+    audio_float = audio_data.astype(np.float32) / 32767.0
+    print("Playing audio... Press Ctrl+C to stop")
+    sd.play(audio_float, sample_rate)
+    sd.wait()
+  except KeyboardInterrupt:
+    print("\nPlayback stopped")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Extract audio data from openpilot logs",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--output", help="Output WAV file path")
+  parser.add_argument("--play", action="store_true", help="Play audio with sounddevice")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+  args = parser.parse_args()
+
+  if not args.output and not args.play:
+    print("Must specify either --output or --play")
+    sys.exit(1)
+
+  extract_audio(args.route_or_segment_name.strip(), args.output, args.play)