diff --git a/examples/benchmark_udp/Makefile b/examples/benchmark_udp/Makefile
new file mode 100644
index 0000000000..cd404f4aeb
--- /dev/null
+++ b/examples/benchmark_udp/Makefile
@@ -0,0 +1,53 @@
+# name of your application
+APPLICATION = benchmark_udp
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= native
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../..
+
+# use GNRC by default
+LWIP ?= 0
+
+# Include packages that pull up and auto-init the link layer.
+# NOTE: 6LoWPAN will be included if IEEE802.15.4 devices are present
+ifeq (0,$(LWIP))
+  USEMODULE += auto_init_gnrc_netif
+  USEMODULE += gnrc_ipv6_default
+  USEMODULE += gnrc_netdev_default
+else
+  USEMODULE += lwip_ipv6
+  USEMODULE += lwip_netdev
+  USEMODULE += netdev_default
+endif
+
+# Add also the shell, some shell commands
+USEMODULE += shell
+USEMODULE += shell_commands
+USEMODULE += ps
+USEMODULE += netstats_l2
+USEMODULE += netstats_ipv6
+
+# Add the benchmark module
+USEMODULE += benchmark_udp
+
+# Uncomment this to automatically start sending packets to a pre-defined
+# benchmark server
+#
+# USEMODULE += auto_init_benchmark_udp
+# CFLAGS += -DBENCH_SERVER_DEFAULT=\"fd00:dead:beef::1\"
+# CFLAGS += -DBENCH_PORT_DEFAULT=12345
+
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+DEVELHELP ?= 0
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+include $(RIOTBASE)/Makefile.include
+
+# Set a custom channel if needed
+include $(RIOTMAKE)/default-radio-settings.inc.mk
diff --git a/examples/benchmark_udp/Makefile.ci b/examples/benchmark_udp/Makefile.ci
new file mode 100644
index 0000000000..3607b9ea61
--- /dev/null
+++ b/examples/benchmark_udp/Makefile.ci
@@ -0,0 +1,40 @@
+BOARD_INSUFFICIENT_MEMORY := \
+    arduino-duemilanove \
+    arduino-leonardo \
+    arduino-mega2560 \
+    arduino-nano \
+    arduino-uno \
+    atmega1284p \
+    atmega328p \
+    atmega328p-xplained-mini \
+    atxmega-a1u-xpro \
+    atxmega-a3bu-xplained \
+    bluepill-stm32f030c8 \
+    derfmega128 \
+    i-nucleo-lrwan1 \
+    ict_panhead \
+    im880b \
+    m1284p \
+    mega-xplained \
+    microduino-corerf \
+    msb-430 \
+    msb-430h \
+    nucleo-f030r8 \
+    nucleo-f031k6 \
+    nucleo-f042k6 \
+    nucleo-f303k8 \
+    nucleo-f334r8 \
+    nucleo-l011k4 \
+    nucleo-l031k6 \
+    nucleo-l053r8 \
+    samd10-xmini \
+    slstk3400a \
+    stk3200 \
+    stm32f030f4-demo \
+    stm32f0discovery \
+    stm32l0538-disco \
+    telosb \
+    waspmote-pro \
+    z1 \
+    zigduino \
+    #
diff --git a/examples/benchmark_udp/README.md b/examples/benchmark_udp/README.md
new file mode 100644
index 0000000000..80e3d7d6a3
--- /dev/null
+++ b/examples/benchmark_udp/README.md
@@ -0,0 +1,41 @@
+# UDP Benchmark
+
+This example uses the `benchmark_udp` module to create a stress-test for the RIOT
+network stack.
+
+This firmware will act as a client and connect to the benchmark server you can find
+in `dist/tools/benchmark_udp`.
+
+## Setup on Hardware
+
+Determine the address of your host machine that will communicate with the RIOT node.
+This could be the address of your ethernet interface, or `fd00:dead:beef::1` if you
+used the `gnrc_border_router` example and want to run the benchmark on a 6LoWPAN node.
+
+You can either start the benchmark manually by using the `bench_udp start` shell command
+or you can configure it to start automatically:
+
+    USEMODULE += auto_init_benchmark_udp
+    CFLAGS += -DBENCH_SERVER_DEFAULT=\"fd00:dead:beef::1\"
+
+## Setup on RIOT native
+
+First, make sure you've compiled the application by calling `make`.
+
+Now, create a tap interface:
+
+    sudo ip tuntap add tap0 mode tap user ${USER}
+    sudo ip link set tap0 up
+
+If you only have a single tap device you can just use the broadcast address
+
+    bench_udp start ff02::1
+
+Otherwise use the link-local address of the `tapbr0` interface (if you did set up the tap
+devices using `tapsetup`.
+
+## Running the benchmark server
+
+To run the benchmark server on your host machine, follow the instructions found in
+
+    dist/tools/benchmark_udp
diff --git a/examples/benchmark_udp/main.c b/examples/benchmark_udp/main.c
new file mode 100644
index 0000000000..731f7e8368
--- /dev/null
+++ b/examples/benchmark_udp/main.c
@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2021 ML!PA Consulting GmbH
+ *
+ * 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     examples
+ * @{
+ *
+ * @file
+ * @brief       Example application for exercising the RIOT network stack
+ *
+ * @author      Benjamin Valentin <benjamin.valentin@ml-pa.com>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "shell.h"
+
+int main(void)
+{
+    puts("RIOT UDP stress-test application");
+
+    /* start shell */
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(NULL, line_buf, sizeof(line_buf));
+
+    /* should be never reached */
+    return 0;
+}