diff --git a/scripts/update_btpeers.sh b/scripts/update_btpeers.sh
new file mode 100755
index 0000000..35e1d1b
--- /dev/null
+++ b/scripts/update_btpeers.sh
@@ -0,0 +1,130 @@
+#!/bin/bash
+
+# Copyright 2024 The ChromiumOS Authors
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+# Replaces the existing btpeerd version on the btpeer(s) with the current
+# local state of this repository to allow for quick testing of changes to
+# btpeerd.
+#
+# The btpeers' ImageUUID in its build info is updated with a `-needs-reinstall`
+# suffix so that auto-repair re-images it, undoing these changes.
+#
+# For development purposes only. Normal deployments should still be bundled
+# within images.
+#
+# Specify a dut hostname to update all of its btpeers or btpeer hostname(s).
+# Assumes anything ending in "-host\d+" to be a dut hostname, and its btpeers to
+# be <dut_hostname>-btpeerN for N [1,4]. Attempts to ssh each host before
+# any updates to validate access and hostname resolution, any hosts that failed
+# are skipped. Fails if btpeerd does not exist already on the host.
+#
+# Usage:
+# ./update_btpeers.sh <dut_or_btpeer_host1> [...<dut_or_btpeer_host1>]
+
+set -e
+
+SCRIPT_DIR="$(dirname "$(realpath -e "${BASH_SOURCE[0]}")")"
+PROJECT_DIR="$(realpath -e "${SCRIPT_DIR}/..")"
+BTPEER_PATH_TO_BTPEERD_DIR="/etc/chromiumos/src/platform/btpeerd/"
+BTPEER_PATH_TO_BUILD_INFO_FILE="/etc/chromiumos/raspios_cros_btpeer_build_info.json"
+DIRTY_IMAGE_UUID_SUFFIX="-needs-reinstall"
+CHROMIUMOS_CONFIG_SRC_LOCAL_DIR="${PROJECT_DIR}/../../config/go"
+CHROMIUMOS_CONFIG_SRC_BTPEER_DIR="/etc/chromiumos/src/config/go"
+
+# Collect hosts from script args.
+HOSTS_TO_CHECK=()
+for HOST in "$@"; do
+  # Remove crossk prefix.
+  HOST="${HOST#crossk-}"
+  if [[ "${HOST}" =~ host[0-9]+$ ]]; then
+    # Likely a DUT host, so add all btpeers.
+    echo "Assuming host '${HOST}' is a dut hostname, will try to update its 4 btpeers"
+    HOSTS_TO_CHECK+=(
+      "${HOST}-btpeer1"
+      "${HOST}-btpeer2"
+      "${HOST}-btpeer3"
+      "${HOST}-btpeer4"
+    )
+  else
+    HOSTS_TO_CHECK+=("${HOST}")
+  fi
+done
+if [ "${#HOSTS_TO_CHECK[@]}" -eq 0 ]; then
+  echo "ERROR: At least one dut or btpeer hostname is required"
+  exit 1
+fi
+echo "Got ${#HOSTS_TO_CHECK[@]} btpeer hostnames from CLI args"
+
+# Validate hosts as btpeers.
+BTPEER_HOSTS_TO_UPDATE=()
+for HOST in "${HOSTS_TO_CHECK[@]}"; do
+  echo "Checking if host '${HOST}' is a valid host to update"
+  set +e
+  ssh -q "${HOST}" "test -d ${BTPEER_PATH_TO_BTPEERD_DIR}"
+  SSH_RET_CODE=$?
+  set -e
+  if [ "${SSH_RET_CODE}" -eq 255 ]; then
+    echo "WARNING: Failed to connect to host '${HOST}', assuming host does not exist and will not update it"
+  elif [ "${SSH_RET_CODE}" -eq 1 ]; then
+    echo "ERROR: Invalid host '${HOST}': missing btpeerd install dir ${BTPEER_PATH_TO_BTPEERD_DIR}"
+    exit 1
+  elif [ "${SSH_RET_CODE}" -ne 0 ]; then
+    echo "ERROR: Failed to verify host '${HOST}' has btpeerd install dir ${BTPEER_PATH_TO_BTPEERD_DIR}"
+    exit 2
+  else
+    echo "Successfully verified host '${HOST}' as a valid btpeer, will update it"
+    BTPEER_HOSTS_TO_UPDATE+=("${HOST}")
+  fi
+done
+if [ "${#BTPEER_HOSTS_TO_UPDATE[@]}" -eq 0 ]; then
+  echo "ERROR: No valid btpeer hosts to update"
+  exit 1
+fi
+echo "Successfully identified ${#BTPEER_HOSTS_TO_UPDATE[@]} btpeer hosts to update"
+
+# Update btpeerd on btpeers.
+LOG_DIVIDER="=============================================================================="
+for HOST in "${BTPEER_HOSTS_TO_UPDATE[@]}"; do
+  echo -e "\n${LOG_DIVIDER}"
+  echo "Updating btpeerd on host '${HOST}'"
+
+  echo "Marking btpeer image as dirty"
+  BUILD_INFO_JSON=$(ssh -q "${HOST}" "cat '${BTPEER_PATH_TO_BUILD_INFO_FILE}'")
+  IMAGE_UUID=$(jq -r ."image_uuid" <<< "${BUILD_INFO_JSON}")
+  if [ "${#IMAGE_UUID}" -ne 36 ]; then
+    echo "Btpeer image already marked as dirty with image UUID '${IMAGE_UUID}', skipping step"
+  else
+    IMAGE_UUID="${IMAGE_UUID}${DIRTY_IMAGE_UUID_SUFFIX}"
+    BUILD_INFO_JSON=$(jq '."image_uuid" = $val' --arg val "${IMAGE_UUID}" <<< "${BUILD_INFO_JSON}")
+    echo "${BUILD_INFO_JSON}" | ssh -q "${HOST}" "cat - > '${BTPEER_PATH_TO_BUILD_INFO_FILE}'"
+    echo "Successfully marked btpeer image as dirty with image UUID '${IMAGE_UUID}'"
+  fi
+
+  echo "Stopping btpeerd service"
+  ssh -q "${HOST}" "systemctl stop btpeerd.service"
+
+  echo "Copying source files to btpeer"
+  ssh -q "${HOST}" "mkdir -p '${CHROMIUMOS_CONFIG_SRC_BTPEER_DIR}'"
+  rsync -a "${CHROMIUMOS_CONFIG_SRC_LOCAL_DIR}"/* \
+  "${HOST}:${CHROMIUMOS_CONFIG_SRC_BTPEER_DIR}"
+  rsync -av "${PROJECT_DIR}/" "${HOST}:${BTPEER_PATH_TO_BTPEERD_DIR}/" \
+  --exclude .git --exclude .idea --exclude .vscode \
+  --exclude go/bin --exclude go/pkg
+
+  echo "Building btpeerd on btpeer"
+  ssh "${HOST}" "${BTPEER_PATH_TO_BTPEERD_DIR}/scripts/build.sh"
+
+  echo "Starting btpeerd service"
+  ssh -q "${HOST}" "systemctl start btpeerd.service"
+
+  echo "Successfully updated btpeerd on host '${HOST}'"
+done
+
+# Print summary.
+echo -e "\n${LOG_DIVIDER}\n${LOG_DIVIDER}"
+echo "Successfully updated btpeerd on ${#BTPEER_HOSTS_TO_UPDATE[@]} hosts:"
+for HOST in "${BTPEER_HOSTS_TO_UPDATE[@]}"; do
+  echo "${HOST}"
+done