diff --git a/examples/stream-quaternions.js b/examples/stream-quaternions.js
new file mode 100644
index 0000000..2693a43
--- /dev/null
+++ b/examples/stream-quaternions.js
@@ -0,0 +1,33 @@
+"use strict";
+
+var sphero = require("../");
+var orb = sphero(process.env.PORT);
+
+orb.connect(function() {
+  orb.streamQuaternions();
+
+  orb.on("quaternions", function(data) {
+    console.log("quaternions:");
+    console.log("  sensor:", data.quaternionQ0.sensor);
+    console.log("    range:", data.quaternionQ0.range);
+    console.log("    units:", data.quaternionQ0.units);
+    console.log("    value:", data.quaternionQ0.value[0]);
+
+    console.log("  sensor:", data.quaternionQ1.sensor);
+    console.log("    range:", data.quaternionQ1.range);
+    console.log("    units:", data.quaternionQ1.units);
+    console.log("    value:", data.quaternionQ1.value[0]);
+
+    console.log("  sensor:", data.quaternionQ2.sensor);
+    console.log("    range:", data.quaternionQ2.range);
+    console.log("    units:", data.quaternionQ2.units);
+    console.log("    value:", data.quaternionQ2.value[0]);
+
+    console.log("  sensor:", data.quaternionQ3.sensor);
+    console.log("    range:", data.quaternionQ3.range);
+    console.log("    units:", data.quaternionQ3.units);
+    console.log("    value:", data.quaternionQ3.value[0]);
+  });
+
+  orb.roll(180, 0);
+});
diff --git a/lib/devices/custom.js b/lib/devices/custom.js
index 4d35da7..5355e24 100644
--- a/lib/devices/custom.js
+++ b/lib/devices/custom.js
@@ -342,6 +342,36 @@ module.exports = function custom(device) {
     return device.setStabilization(1, callback);
   };
 
+  /**
+   * Starts streaming of quaternions
+   *
+   * It uses sphero's data streaming command. User needs to listen
+   * for the `dataStreaming` or `quaternions` event to get the data.
+   *
+   * @param {Number} [sps=5] samples per second
+   * @param {Boolean} [remove=false] forces streamin of quaternions to stop
+   * @example
+   * orb.streamQuaternions();
+   *
+   * orb.on("quaternions", function(data) {
+   *   console.log("data:");
+   *   console.log("  quaternionQ0:", data.quaternionQ0);
+   *   console.log("  quaternionQ1:", data.quaternionQ1);
+   *   console.log("  quaternionQ2:", data.quaternionQ2);
+   *   console.log("  quaternionQ3:", data.quaternionQ3);
+   * });
+   * @return {object} promise for command
+   */
+  device.streamQuaternions = function(sps, remove) {
+    return device.streamData({
+      event: "quaternions",
+      mask2: 0xF0000000,
+      fields: ["quaternionQ0", "quaternionQ1", "quaternionQ2", "quaternionQ3"],
+      sps: sps,
+      remove: remove
+    });
+  };
+
   /**
    * Starts streaming of odometer data
    *
diff --git a/spec/lib/devices/custom.spec.js b/spec/lib/devices/custom.spec.js
index 72f815e..8662356 100644
--- a/spec/lib/devices/custom.spec.js
+++ b/spec/lib/devices/custom.spec.js
@@ -269,6 +269,21 @@ describe("Custom Device Functions", function() {
       device.streamData.restore();
     });
 
+    it("#streamQuaternions calls #streamData with", function() {
+      var opts = {
+        event: "quaternions",
+        mask2: 0xF0000000,
+        fields: ["quaternionQ0", "quaternionQ1", "quaternionQ2", "quaternionQ3"],
+        sps: 2,
+        remove: false
+      };
+
+      device.streamQuaternions(2, false);
+
+      expect(device.streamData).to.be.calledOnce;
+      expect(device.streamData).to.be.calledWith(opts);
+    });
+
     it("#streamOdometer calls #streamData with", function() {
       var opts = {
         event: "odometer",