diff --git a/cmd/stunstamp/stunstamp.go b/cmd/stunstamp/stunstamp.go
index 950fdc2cd..32f4e7ff0 100644
--- a/cmd/stunstamp/stunstamp.go
+++ b/cmd/stunstamp/stunstamp.go
@@ -460,7 +460,7 @@ type connAndMeasureFn struct {
 // newConnAndMeasureFn returns a connAndMeasureFn or an error. It may return
 // nil for both if some combination of the supplied timestampSource, protocol,
 // or connStability is unsupported.
-func newConnAndMeasureFn(source timestampSource, protocol protocol, stable connStability) (*connAndMeasureFn, error) {
+func newConnAndMeasureFn(forDst netip.Addr, source timestampSource, protocol protocol, stable connStability) (*connAndMeasureFn, error) {
 	info := getProtocolSupportInfo(protocol)
 	if !info.stableConn && bool(stable) {
 		return nil, nil
@@ -493,8 +493,14 @@ func newConnAndMeasureFn(source timestampSource, protocol protocol, stable connS
 			}, nil
 		}
 	case protocolICMP:
-		// TODO(jwhited): implement
-		return nil, nil
+		conn, err := getICMPConn(forDst, source)
+		if err != nil {
+			return nil, err
+		}
+		return &connAndMeasureFn{
+			conn: conn,
+			fn:   mkICMPRTTFn(source),
+		}, nil
 	case protocolHTTPS:
 		localPort := 0
 		if stable {
@@ -558,7 +564,7 @@ func getConns(
 	if !ok {
 		for _, source := range []timestampSource{timestampSourceUserspace, timestampSourceKernel} {
 			var cf *connAndMeasureFn
-			cf, err = newConnAndMeasureFn(source, protocol, stableConn)
+			cf, err = newConnAndMeasureFn(addr, source, protocol, stableConn)
 			if err != nil {
 				return
 			}
@@ -569,7 +575,7 @@ func getConns(
 
 	for _, source := range []timestampSource{timestampSourceUserspace, timestampSourceKernel} {
 		var cf *connAndMeasureFn
-		cf, err = newConnAndMeasureFn(source, protocol, unstableConn)
+		cf, err = newConnAndMeasureFn(addr, source, protocol, unstableConn)
 		if err != nil {
 			return
 		}
@@ -953,13 +959,6 @@ func main() {
 		log.Fatal("nothing to probe")
 	}
 
-	// TODO(jwhited): remove protocol restriction
-	for k := range portsByProtocol {
-		if k != protocolSTUN && k != protocolHTTPS && k != protocolTCP {
-			log.Fatal("ICMP is not yet supported")
-		}
-	}
-
 	if len(*flagDERPMap) < 1 {
 		log.Fatal("derp-map flag is unset")
 	}
diff --git a/cmd/stunstamp/stunstamp_default.go b/cmd/stunstamp/stunstamp_default.go
index 36afdbb8f..5eb765134 100644
--- a/cmd/stunstamp/stunstamp_default.go
+++ b/cmd/stunstamp/stunstamp_default.go
@@ -40,10 +40,26 @@ func getProtocolSupportInfo(p protocol) protocolSupportInfo {
 			userspaceTS: false,
 			stableConn:  true,
 		}
+	case protocolICMP:
+		return protocolSupportInfo{
+			kernelTS:    false,
+			userspaceTS: false,
+			stableConn:  false,
+		}
 	}
 	return protocolSupportInfo{}
 }
 
+func getICMPConn(forDst netip.Addr, source timestampSource) (io.ReadWriteCloser, error) {
+	return nil, errors.New("platform unsupported")
+}
+
+func mkICMPRTTFn(source timestampSource) func(conn io.ReadWriteCloser, hostname string, dst netip.AddrPort) (rtt time.Duration, err error) {
+	return func(conn io.ReadWriteCloser, hostname string, dst netip.AddrPort) (rtt time.Duration, err error) {
+		return 0, errors.New("platform unsupported")
+	}
+}
+
 func setSOReuseAddr(fd uintptr) error {
 	return nil
 }
diff --git a/cmd/stunstamp/stunstamp_linux.go b/cmd/stunstamp/stunstamp_linux.go
index e73d1ee3c..038c01ffa 100644
--- a/cmd/stunstamp/stunstamp_linux.go
+++ b/cmd/stunstamp/stunstamp_linux.go
@@ -10,17 +10,22 @@ import (
 	"errors"
 	"fmt"
 	"io"
+	"math"
+	"math/rand/v2"
 	"net/netip"
 	"syscall"
 	"time"
 
 	"github.com/mdlayher/socket"
+	"golang.org/x/net/icmp"
+	"golang.org/x/net/ipv4"
+	"golang.org/x/net/ipv6"
 	"golang.org/x/sys/unix"
 	"tailscale.com/net/stun"
 )
 
 const (
-	flags = unix.SOF_TIMESTAMPING_TX_SOFTWARE | // tx timestamp generation in device driver
+	timestampingFlags = unix.SOF_TIMESTAMPING_TX_SOFTWARE | // tx timestamp generation in device driver
 		unix.SOF_TIMESTAMPING_RX_SOFTWARE | // rx timestamp generation in the kernel
 		unix.SOF_TIMESTAMPING_SOFTWARE // report software timestamps
 )
@@ -35,7 +40,7 @@ func getUDPConnKernelTimestamp() (io.ReadWriteCloser, error) {
 	if err != nil {
 		return nil, err
 	}
-	err = sconn.SetsockoptInt(unix.SOL_SOCKET, unix.SO_TIMESTAMPING_NEW, flags)
+	err = sconn.SetsockoptInt(unix.SOL_SOCKET, unix.SO_TIMESTAMPING_NEW, timestampingFlags)
 	if err != nil {
 		return nil, err
 	}
@@ -57,7 +62,128 @@ func parseTimestampFromCmsgs(oob []byte) (time.Time, error) {
 	return time.Time{}, errors.New("failed to parse timestamp from cmsgs")
 }
 
-func measureSTUNRTTKernel(conn io.ReadWriteCloser, hostname string, dst netip.AddrPort) (rtt time.Duration, err error) {
+func mkICMPRTTFn(source timestampSource) func(conn io.ReadWriteCloser, hostname string, dst netip.AddrPort) (rtt time.Duration, err error) {
+	return func(conn io.ReadWriteCloser, hostname string, dst netip.AddrPort) (rtt time.Duration, err error) {
+		return measureICMPRTT(source, conn, hostname, dst)
+	}
+}
+
+func measureICMPRTT(source timestampSource, conn io.ReadWriteCloser, _ string, dst netip.AddrPort) (rtt time.Duration, err error) {
+	sconn, ok := conn.(*socket.Conn)
+	if !ok {
+		return 0, fmt.Errorf("conn of unexpected type: %T", conn)
+	}
+	txBody := &icmp.Echo{
+		// The kernel overrides this and routes appropriately so there is no
+		// point in setting or verifying.
+		ID: 0,
+		// Make this sufficiently random so that we do not account a late
+		// arriving reply in a future probe window.
+		Seq: int(rand.Int32N(math.MaxUint16)),
+		// Fingerprint ourselves.
+		Data: []byte("stunstamp"),
+	}
+	txMsg := icmp.Message{
+		Body: txBody,
+	}
+	var to unix.Sockaddr
+	if dst.Addr().Is4() {
+		txMsg.Type = ipv4.ICMPTypeEcho
+		to = &unix.SockaddrInet4{}
+		copy(to.(*unix.SockaddrInet4).Addr[:], dst.Addr().AsSlice())
+	} else {
+		txMsg.Type = ipv6.ICMPTypeEchoRequest
+		to = &unix.SockaddrInet6{}
+		copy(to.(*unix.SockaddrInet6).Addr[:], dst.Addr().AsSlice())
+	}
+	txBuf, err := txMsg.Marshal(nil)
+	if err != nil {
+		return 0, err
+	}
+	txAt := time.Now()
+	err = sconn.Sendto(context.Background(), txBuf, 0, to)
+	if err != nil {
+		return 0, fmt.Errorf("sendto error: %v", err)
+	}
+
+	if source == timestampSourceKernel {
+		txCtx, txCancel := context.WithTimeout(context.Background(), time.Second*2)
+		defer txCancel()
+
+		buf := make([]byte, 1024)
+		oob := make([]byte, 1024)
+
+		for {
+			n, oobn, _, _, err := sconn.Recvmsg(txCtx, buf, oob, unix.MSG_ERRQUEUE)
+			if err != nil {
+				return 0, fmt.Errorf("recvmsg (MSG_ERRQUEUE) error: %v", err) // don't wrap
+			}
+
+			buf = buf[:n]
+			// Spin until we find the message we sent. We get the full packet
+			// looped including eth header so match against the tail.
+			if n < len(txBuf) {
+				continue
+			}
+			txLoopedMsg, err := icmp.ParseMessage(txMsg.Type.Protocol(), buf[len(buf)-len(txBuf):])
+			if err != nil {
+				continue
+			}
+			txLoopedBody, ok := txLoopedMsg.Body.(*icmp.Echo)
+			if !ok || txLoopedBody.Seq != txBody.Seq || txLoopedMsg.Code != txMsg.Code ||
+				txLoopedMsg.Type != txLoopedMsg.Type || !bytes.Equal(txLoopedBody.Data, txBody.Data) {
+				continue
+			}
+			txAt, err = parseTimestampFromCmsgs(oob[:oobn])
+			if err != nil {
+				return 0, fmt.Errorf("failed to get tx timestamp: %v", err) // don't wrap
+			}
+			break
+		}
+	}
+
+	rxCtx, txCancel := context.WithTimeout(context.Background(), time.Second*2)
+	defer txCancel()
+
+	rxBuf := make([]byte, 1024)
+	oob := make([]byte, 1024)
+	for {
+		n, oobn, _, _, err := sconn.Recvmsg(rxCtx, rxBuf, oob, 0)
+		if err != nil {
+			return 0, fmt.Errorf("recvmsg error: %w", err)
+		}
+		rxAt := time.Now()
+		rxMsg, err := icmp.ParseMessage(txMsg.Type.Protocol(), rxBuf[:n])
+		if err != nil {
+			continue
+		}
+		if txMsg.Type == ipv4.ICMPTypeEcho {
+			if rxMsg.Type != ipv4.ICMPTypeEchoReply {
+				continue
+			}
+		} else {
+			if rxMsg.Type != ipv6.ICMPTypeEchoReply {
+				continue
+			}
+		}
+		if rxMsg.Code != txMsg.Code {
+			continue
+		}
+		rxBody, ok := rxMsg.Body.(*icmp.Echo)
+		if !ok || rxBody.Seq != txBody.Seq || !bytes.Equal(rxBody.Data, txBody.Data) {
+			continue
+		}
+		if source == timestampSourceKernel {
+			rxAt, err = parseTimestampFromCmsgs(oob[:oobn])
+			if err != nil {
+				return 0, fmt.Errorf("failed to get rx timestamp: %v", err)
+			}
+		}
+		return rxAt.Sub(txAt), nil
+	}
+}
+
+func measureSTUNRTTKernel(conn io.ReadWriteCloser, _ string, dst netip.AddrPort) (rtt time.Duration, err error) {
 	sconn, ok := conn.(*socket.Conn)
 	if !ok {
 		return 0, fmt.Errorf("conn of unexpected type: %T", conn)
@@ -138,6 +264,23 @@ func measureSTUNRTTKernel(conn io.ReadWriteCloser, hostname string, dst netip.Ad
 
 }
 
+func getICMPConn(forDst netip.Addr, source timestampSource) (io.ReadWriteCloser, error) {
+	domain := unix.AF_INET
+	proto := unix.IPPROTO_ICMP
+	if forDst.Is6() {
+		domain = unix.AF_INET6
+		proto = unix.IPPROTO_ICMPV6
+	}
+	conn, err := socket.Socket(domain, unix.SOCK_DGRAM, proto, "icmp", nil)
+	if err != nil {
+		return nil, err
+	}
+	if source == timestampSourceKernel {
+		err = conn.SetsockoptInt(unix.SOL_SOCKET, unix.SO_TIMESTAMPING_NEW, timestampingFlags)
+	}
+	return conn, err
+}
+
 func getProtocolSupportInfo(p protocol) protocolSupportInfo {
 	switch p {
 	case protocolSTUN:
@@ -158,7 +301,12 @@ func getProtocolSupportInfo(p protocol) protocolSupportInfo {
 			userspaceTS: false,
 			stableConn:  true,
 		}
-		// TODO(jwhited): add ICMP
+	case protocolICMP:
+		return protocolSupportInfo{
+			kernelTS:    true,
+			userspaceTS: true,
+			stableConn:  false,
+		}
 	}
 	return protocolSupportInfo{}
 }