diff --git a/samples/sensor/vl53l0x/README.rst b/samples/sensor/vl53l0x/README.rst
index 53f4bc9e1f91..4d7fbc6f0205 100644
--- a/samples/sensor/vl53l0x/README.rst
+++ b/samples/sensor/vl53l0x/README.rst
@@ -9,7 +9,7 @@ Overview
 
 This sample periodically measures distance between vl53l0x sensor
 and target. The result is displayed on the console.
-It also shows how we can use the vl53l0x as a proximity sensor.
+It shows the usage of all available channels including private ones.
 
 Requirements
 ************
@@ -24,24 +24,33 @@ References
 Building and Running
 ********************
 
- This project outputs sensor data to the console. It requires a VL53L0X
- sensor, which is present on the disco_l475_iot1 board.
+This project outputs sensor data to the console. It requires a VL53L0X
+sensor, which is present on the disco_l475_iot1 board.
 
- .. zephyr-app-commands::
-    :zephyr-app: samples/sensor/vl53l0x/
-    :goals: build flash
+.. zephyr-app-commands::
+   :zephyr-app: samples/sensor/vl53l0x/
+   :goals: build flash
 
 
 Sample Output
 =============
 
- .. code-block:: console
-
-    prox is 0
-    distance is 1938
-    prox is 1
-    distance is 70
-    prox is 0
-    distance is 1995
-
-    <repeats endlessly every second>
+.. code-block:: console
+
+   prox is 0
+   distance is 1874 mm
+   Max distance is 000 mm
+   Signal rate is 33435 Cps
+   Ambient rate is 17365 Cps
+   SPADs used: 195
+   Status: OK
+
+   prox is 0
+   distance is 1888 mm
+   Max distance is 000 mm
+   Signal rate is 20846 Cps
+   Ambient rate is 25178 Cps
+   SPADs used: 195
+   Status: OK
+
+   <repeats endlessly every 5 seconds>
diff --git a/samples/sensor/vl53l0x/src/main.c b/samples/sensor/vl53l0x/src/main.c
index cfed1adaa623..e9b76d410e77 100644
--- a/samples/sensor/vl53l0x/src/main.c
+++ b/samples/sensor/vl53l0x/src/main.c
@@ -7,8 +7,8 @@
 #include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/drivers/sensor.h>
-#include <stdio.h>
 #include <zephyr/sys/printk.h>
+#include <zephyr/drivers/sensor/vl53l0x.h>
 
 int main(void)
 {
@@ -31,12 +31,30 @@ int main(void)
 		ret = sensor_channel_get(dev, SENSOR_CHAN_PROX, &value);
 		printk("prox is %d\n", value.val1);
 
-		ret = sensor_channel_get(dev,
-					 SENSOR_CHAN_DISTANCE,
-					 &value);
-		printf("distance is %.3fm\n", sensor_value_to_double(&value));
+		ret = sensor_channel_get(dev, SENSOR_CHAN_DISTANCE, &value);
+		printk("distance is %.3lld mm\n", sensor_value_to_milli(&value));
 
-		k_sleep(K_MSEC(1000));
+		ret = sensor_channel_get(dev, SENSOR_CHAN_VL53L0X_RANGE_DMAX, &value);
+		printk("Max distance is %.3lld mm\n", sensor_value_to_milli(&value));
+
+		ret = sensor_channel_get(dev, SENSOR_CHAN_VL53L0X_SIGNAL_RATE_RTN_CPS, &value);
+		printk("Signal rate is %d Cps\n", value.val1);
+
+		ret = sensor_channel_get(dev, SENSOR_CHAN_VL53L0X_AMBIENT_RATE_RTN_CPS, &value);
+		printk("Ambient rate is %d Cps\n", value.val1);
+
+		ret = sensor_channel_get(dev, SENSOR_CHAN_VL53L0X_EFFECTIVE_SPAD_RTN_COUNT, &value);
+		printk("SPADs used: %d\n", value.val1);
+
+		ret = sensor_channel_get(dev, SENSOR_CHAN_VL53L0X_RANGE_STATUS, &value);
+		if (value.val1 == VL53L0X_RANGE_STATUS_RANGE_VALID) {
+			printk("Status: OK\n");
+		} else {
+			printk("Status: Error code %d\n", value.val1);
+		}
+
+		printk("\n");
+		k_sleep(K_MSEC(5000));
 	}
 	return 0;
 }