diff --git a/src/helper/command.c b/src/helper/command.c
index ca66cf7dd..12434ec90 100644
--- a/src/helper/command.c
+++ b/src/helper/command.c
@@ -543,8 +543,16 @@ static int run_command(struct command_context *context,
 		if (retval != ERROR_OK)
 			LOG_DEBUG("Command '%s' failed with error code %d",
 						words[0], retval);
-		/* Use the command output as the Tcl result */
-		Jim_SetResult(context->interp, cmd.output);
+		/*
+		 * Use the command output as the Tcl result.
+		 * Drop last '\n' to allow command output concatenation
+		 * while keep using command_print() everywhere.
+		 */
+		const char *output_txt = Jim_String(cmd.output);
+		int len = strlen(output_txt);
+		if (len && output_txt[len - 1] == '\n')
+			--len;
+		Jim_SetResultString(context->interp, output_txt, len);
 	}
 	Jim_DecrRefCount(context->interp, cmd.output);
 
diff --git a/src/helper/command.h b/src/helper/command.h
index 478e5c8ad..42cb9cb7d 100644
--- a/src/helper/command.h
+++ b/src/helper/command.h
@@ -370,10 +370,21 @@ struct command_context *copy_command_context(struct command_context *cmd_ctx);
  */
 void command_done(struct command_context *context);
 
+/*
+ * command_print() and command_print_sameline() are used to produce the TCL
+ * output of OpenOCD commands. command_print() automatically adds a '\n' at
+ * the end or the format string. Use command_print_sameline() to avoid the
+ * trailing '\n', e.g. to concatenate the command output in the same line.
+ * The very last '\n' of the command is stripped away (see run_command()).
+ * For commands that strictly require a '\n' as last output character, add
+ * it explicitly with either an empty command_print() or with a '\n' in the
+ * last command_print() and add a comment to document it.
+ */
 void command_print(struct command_invocation *cmd, const char *format, ...)
 __attribute__ ((format (PRINTF_ATTRIBUTE_FORMAT, 2, 3)));
 void command_print_sameline(struct command_invocation *cmd, const char *format, ...)
 __attribute__ ((format (PRINTF_ATTRIBUTE_FORMAT, 2, 3)));
+
 int command_run_line(struct command_context *context, char *line);
 int command_run_linef(struct command_context *context, const char *format, ...)
 __attribute__ ((format (PRINTF_ATTRIBUTE_FORMAT, 2, 3)));