diff --git a/docs/commands.md b/docs/commands.md
index 9e4cbe5408..34f8a0c425 100644
--- a/docs/commands.md
+++ b/docs/commands.md
@@ -71,6 +71,10 @@ Runs all unit tests from all packages in the current workspace.
 
 Re-runs the last executed test.
 
+### `Go: Debug Previous`
+
+Re-runs the last debugged test run through a codelens or "Go: Debug Test at Cursor" command.
+
 ### `Go: Toggle Test Coverage In Current Package`
 
 Displays test coverage in the current package.
diff --git a/package.json b/package.json
index ffd0b4f4b6..0fae7132fd 100644
--- a/package.json
+++ b/package.json
@@ -232,6 +232,11 @@
         "title": "Go: Test Previous",
         "description": "Re-runs the last executed test."
       },
+      {
+        "command": "go.debug.previous",
+        "title": "Go: Debug Previous",
+        "description": "Re-runs the last debugged test run through a codelens or \"Go: Debug Test at Cursor\" command."
+      },
       {
         "command": "go.test.coverage",
         "title": "Go: Toggle Test Coverage In Current Package",
diff --git a/src/goMain.ts b/src/goMain.ts
index 3cf4872768..104ba62cfb 100644
--- a/src/goMain.ts
+++ b/src/goMain.ts
@@ -64,6 +64,7 @@ import { GoReferencesCodeLensProvider } from './goReferencesCodelens';
 import { GoRunTestCodeLensProvider } from './goRunTestCodelens';
 import { disposeGoStatusBar, expandGoStatusBar, outputChannel, updateGoStatusBar } from './goStatus';
 import {
+	debugPrevious,
 	subTestAtCursor,
 	testAtCursor,
 	testCurrentFile,
@@ -375,6 +376,12 @@ If you would like additional configuration for diagnostics from gopls, please se
 		})
 	);
 
+	ctx.subscriptions.push(
+		vscode.commands.registerCommand('go.debug.previous', () => {
+			debugPrevious();
+		})
+	);
+
 	ctx.subscriptions.push(
 		vscode.commands.registerCommand('go.test.coverage', () => {
 			toggleCoverageCurrentPackage();
diff --git a/src/goTest.ts b/src/goTest.ts
index d1cb29f25c..e25c9d7b19 100644
--- a/src/goTest.ts
+++ b/src/goTest.ts
@@ -24,6 +24,11 @@ import {
 // the last test to be easily re-executed.
 let lastTestConfig: TestConfig;
 
+// lastDebugConfig holds a reference to the last executed DebugConfiguration which allows
+// the last test to be easily re-executed and debugged.
+let lastDebugConfig: vscode.DebugConfiguration;
+let lastDebugWorkspaceFolder: vscode.WorkspaceFolder;
+
 export type TestAtCursorCmd = 'debug' | 'test' | 'benchmark';
 
 /**
@@ -203,6 +208,8 @@ async function debugTestAtCursor(
 		args,
 		buildFlags: buildFlags.join(' ')
 	};
+	lastDebugConfig = debugConfig;
+	lastDebugWorkspaceFolder = workspaceFolder;
 	return await vscode.debug.startDebugging(workspaceFolder, debugConfig);
 }
 
@@ -327,3 +334,14 @@ export function testPrevious() {
 		console.error(err);
 	});
 }
+
+/**
+ * Runs the previously executed test.
+ */
+export function debugPrevious() {
+	if (!lastDebugConfig) {
+		vscode.window.showInformationMessage('No test has been recently debugged.');
+		return;
+	}
+	return vscode.debug.startDebugging(lastDebugWorkspaceFolder, lastDebugConfig);
+}