diff --git a/src/gui/plugins/view_angle/ViewAngle.cc b/src/gui/plugins/view_angle/ViewAngle.cc
index b4fc5d014f..8f3b34f431 100644
--- a/src/gui/plugins/view_angle/ViewAngle.cc
+++ b/src/gui/plugins/view_angle/ViewAngle.cc
@@ -66,6 +66,18 @@ namespace ignition::gazebo
     /// \brief gui camera pose
     public: math::Pose3d camPose;
 
+    /// \brief GUI camera near/far clipping distance (QList order is near, far)
+    public: QList<double> camClipDist{0.0, 0.0};
+
+    /// \brief Flag indicating if there is a new camera clipping distance
+    /// coming from qml side
+    public: bool newCamClipDist = false;
+
+    /// \brief Checks if there is new camera clipping distance from gui camera,
+    /// used to update qml side
+    /// \return True if there is a new clipping distance from gui camera
+    public: bool UpdateQtCamClipDist();
+
     /// \brief User camera
     public: rendering::CameraPtr camera{nullptr};
 
@@ -146,6 +158,12 @@ bool ViewAngle::eventFilter(QObject *_obj, QEvent *_event)
   if (_event->type() == ignition::gui::events::Render::kType)
   {
     this->dataPtr->OnRender();
+
+    // updates qml cam clip distance spin boxes if changed
+    if (this->dataPtr->UpdateQtCamClipDist())
+    {
+      this->CamClipDistChanged();
+    }
   }
   else if (_event->type() ==
            ignition::gazebo::gui::events::EntitiesSelected::kType)
@@ -283,6 +301,20 @@ void ViewAngle::CamPoseCb(const msgs::Pose &_msg)
   }
 }
 
+/////////////////////////////////////////////////
+QList<double> ViewAngle::CamClipDist() const
+{
+  return this->dataPtr->camClipDist;
+}
+
+/////////////////////////////////////////////////
+void ViewAngle::SetCamClipDist(double _near, double _far)
+{
+  this->dataPtr->camClipDist[0] = _near;
+  this->dataPtr->camClipDist[1] = _far;
+  this->dataPtr->newCamClipDist = true;
+}
+
 /////////////////////////////////////////////////
 void ViewAnglePrivate::OnRender()
 {
@@ -395,6 +427,14 @@ void ViewAnglePrivate::OnRender()
       this->prevMoveToTime = now;
     }
   }
+
+  // Camera clipping plane distance
+  if (this->newCamClipDist)
+  {
+    this->camera->SetNearClipPlane(this->camClipDist[0]);
+    this->camera->SetFarClipPlane(this->camClipDist[1]);
+    this->newCamClipDist = false;
+  }
 }
 
 /////////////////////////////////////////////////
@@ -404,6 +444,24 @@ void ViewAnglePrivate::OnComplete()
   this->moveToPoseValue.reset();
 }
 
+/////////////////////////////////////////////////
+bool ViewAnglePrivate::UpdateQtCamClipDist()
+{
+  bool updated = false;
+  if (std::abs(this->camera->NearClipPlane() - this->camClipDist[0]) > 0.0001)
+  {
+    this->camClipDist[0] = this->camera->NearClipPlane();
+    updated = true;
+  }
+
+  if (std::abs(this->camera->FarClipPlane() - this->camClipDist[1]) > 0.0001)
+  {
+    this->camClipDist[1] = this->camera->FarClipPlane();
+    updated = true;
+  }
+  return updated;
+}
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::ViewAngle,
                     ignition::gui::Plugin)
diff --git a/src/gui/plugins/view_angle/ViewAngle.hh b/src/gui/plugins/view_angle/ViewAngle.hh
index e209b729bc..155d16ae2e 100644
--- a/src/gui/plugins/view_angle/ViewAngle.hh
+++ b/src/gui/plugins/view_angle/ViewAngle.hh
@@ -47,6 +47,13 @@ namespace gazebo
       NOTIFY CamPoseChanged
     )
 
+    /// \brief gui camera near/far clipping distance (QList order is near, far)
+    Q_PROPERTY(
+      QList<double> camClipDist
+      READ CamClipDist
+      NOTIFY CamClipDistChanged
+    )
+
     /// \brief Constructor
     public: ViewAngle();
 
@@ -88,6 +95,17 @@ namespace gazebo
     /// \param[in] _msg Pose message
     public: void CamPoseCb(const msgs::Pose &_msg);
 
+    /// \brief Get the current gui camera's near and far clipping distances
+    public: Q_INVOKABLE QList<double> CamClipDist() const;
+
+    /// \brief Notify that the gui camera's near/far clipping distances changed
+    signals: void CamClipDistChanged();
+
+    /// \brief Updates gui camera's near/far clipping distances
+    /// \param[in] _near Near clipping plane distance
+    /// \param[in] _far Far clipping plane distance
+    public slots: void SetCamClipDist(double _near, double _far);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<ViewAnglePrivate> dataPtr;
diff --git a/src/gui/plugins/view_angle/ViewAngle.qml b/src/gui/plugins/view_angle/ViewAngle.qml
index 54a2de4dbc..9f7213f488 100644
--- a/src/gui/plugins/view_angle/ViewAngle.qml
+++ b/src/gui/plugins/view_angle/ViewAngle.qml
@@ -213,6 +213,7 @@ ColumnLayout {
     Layout.fillWidth: true
     color: Material.Grey
     leftPadding: 5
+    font.bold: true
   }
 
   GridLayout {
@@ -336,6 +337,60 @@ ColumnLayout {
     }
   }
 
+  // Set camera's near/far clipping distance
+  Text {
+    text: "Camera's clipping plane distance"
+    Layout.fillWidth: true
+    color: Material.Grey
+    leftPadding: 5
+    topPadding: 10
+    font.bold: true
+  }
+
+  GridLayout {
+    width: parent.width
+    columns: 4
+
+    Text {
+      text: "Near (m)"
+      color: "dimgrey"
+      Layout.row: 0
+      Layout.column: 0
+      leftPadding: 5
+    }
+    IgnSpinBox {
+      id: nearClip
+      Layout.fillWidth: true
+      Layout.row: 0
+      Layout.column: 1
+      value: ViewAngle.camClipDist[0]
+      maximumValue: farClip.value
+      minimumValue: 0.000001
+      decimals: 6
+      stepSize: 0.01
+      onEditingFinished: ViewAngle.SetCamClipDist(nearClip.value, farClip.value)
+    }
+    Text {
+      text: "Far (m)"
+      color: "dimgrey"
+      Layout.row: 0
+      Layout.column: 2
+      leftPadding: 5
+    }
+    IgnSpinBox {
+      id: farClip
+      Layout.fillWidth: true
+      Layout.row: 0
+      Layout.column: 3
+      value: ViewAngle.camClipDist[1]
+      maximumValue: 1000000
+      minimumValue: nearClip.value
+      decimals: 6
+      stepSize: 0.01
+      onEditingFinished: ViewAngle.SetCamClipDist(nearClip.value, farClip.value)
+    }
+  }
+
   // Bottom spacer
   Item {
     width: 10