diff --git a/configuration/packages/configuring-dwb-controller.rst b/configuration/packages/configuring-dwb-controller.rst
index de74372d1..2e0c9dc81 100644
--- a/configuration/packages/configuring-dwb-controller.rst
+++ b/configuration/packages/configuring-dwb-controller.rst
@@ -104,6 +104,7 @@ Example
           xy_goal_tolerance: 0.25
           trans_stopped_velocity: 0.25
           short_circuit_trajectory_evaluation: True
+          limit_vel_cmd_in_traj: False
           stateful: True
           critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
           BaseObstacle.scale: 0.02
diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.rst b/configuration/packages/dwb-plugins/standard_traj_generator.rst
index 84cf48920..3f098301e 100644
--- a/configuration/packages/dwb-plugins/standard_traj_generator.rst
+++ b/configuration/packages/dwb-plugins/standard_traj_generator.rst
@@ -73,3 +73,14 @@ Parameters
     
     Description
         Whether to include the last pose in the trajectory.
+
+:``<dwb plugin>``.limit_vel_cmd_in_traj:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool false
+  ==== =======
+    
+    Description
+        Whether to limit velocity command in trajectory using sampled velocity instead of the commanded velocity.
diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
index 72797814b..42e4f9c12 100644
--- a/migration/Jazzy.rst
+++ b/migration/Jazzy.rst
@@ -80,4 +80,14 @@ Before:
 
 After:
 
-.. image:: images/fix_flickering_visualization_after.png
\ No newline at end of file
+.. image:: images/fix_flickering_visualization_after.png
+
+Option to limit velocity through DWB trajectory
+***********************************************
+
+In `PR #4663 <https://github.com/ros-navigation/navigation2/pull/4663>`_ a ``limit_vel_cmd_in_traj`` parameter was introduced to DWB local planner to allow the user to limit the velocity used in the trajectory generation based on the robot's current velocity.
+
+Default value: 
+
+- false
+