diff --git a/Firmware/ConfigurationStore.cpp b/Firmware/ConfigurationStore.cpp
index 0bd13a3a1..009a90248 100644
--- a/Firmware/ConfigurationStore.cpp
+++ b/Firmware/ConfigurationStore.cpp
@@ -184,7 +184,7 @@ static_assert (false, "zprobe_zoffset was not initialized in printers in field t
         "0.0, if this is not acceptable, increment EEPROM_VERSION to force use default_conf");
 #endif
 
-static_assert (sizeof(M500_conf) == 192, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
+static_assert (sizeof(M500_conf) == 196, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
         "or if you added members in the end of struct, ensure that historically uninitialized values will be initialized."
         "If this is caused by change to more then 8bit processor, decide whether make this struct packed to save EEPROM,"
         "leave as it is to keep fast code, or reorder struct members to pack more tightly.");
@@ -232,6 +232,7 @@ static const M500_conf default_conf PROGMEM =
 #else // TMC2130
     {16,16,16,16},
 #endif
+    DEFAULT_TRAVEL_ACCELERATION,
 };
 
 //! @brief Read M500 configuration
diff --git a/Firmware/ConfigurationStore.h b/Firmware/ConfigurationStore.h
index b9dca3685..3e3caf725 100644
--- a/Firmware/ConfigurationStore.h
+++ b/Firmware/ConfigurationStore.h
@@ -38,6 +38,7 @@ typedef struct
     float max_feedrate_silent[4]; //!< max speeds for silent mode
     unsigned long max_acceleration_units_per_sq_second_silent[4];
     unsigned char axis_ustep_resolution[4];
+    float travel_acceleration; //!< travel acceleration mm/s^2
 } M500_conf;
 
 extern M500_conf cs;
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 4e0511c19..f25b5aebf 100755
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -7258,7 +7258,7 @@ Sigma_Exit:
           // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
           // and it is also generated by Slic3r to control acceleration per extrusion type
           // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
-          cs.acceleration = code_value();
+          cs.acceleration = cs.travel_acceleration = code_value();
           // Interpret the T value as retract acceleration in the old Marlin format.
           if(code_seen('T'))
             cs.retract_acceleration = code_value();
@@ -7268,13 +7268,8 @@ Sigma_Exit:
             cs.acceleration = code_value();
           if(code_seen('R'))
             cs.retract_acceleration = code_value();
-          if(code_seen('T')) {
-            // Interpret the T value as the travel acceleration in the new Marlin format.
-            /*!
-            @todo Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
-            */
-            // travel_acceleration = code_value();
-          }
+          if(code_seen('T'))
+            cs.travel_acceleration = code_value();
         }
       }
       break;
diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp
index 2615ef66e..ba3791ae8 100644
--- a/Firmware/planner.cpp
+++ b/Firmware/planner.cpp
@@ -1082,7 +1082,8 @@ Having the real displacement of the head, we can calculate the total movement le
   }
   else
   {
-    block->acceleration_st = ceil(cs.acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+    float acceleration = (block->steps_e.wide == 0? cs.travel_acceleration: cs.acceleration);
+    block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
 
     #ifdef LIN_ADVANCE
     /**