diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index d58cc6e27d..e18741a384 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -317,6 +317,7 @@ float code_value_temp_diff();
 
 #if HAS_BED_PROBE
   extern float zprobe_zoffset;
+  void refresh_zprobe_zoffset(const bool no_babystep=false);
   #define DEPLOY_PROBE() set_probe_deployed(true)
   #define STOW_PROBE() set_probe_deployed(false)
 #endif
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0ad7e36562..b1a94a58e5 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -7968,41 +7968,53 @@ inline void gcode_M503() {
 
 #if HAS_BED_PROBE
 
-  inline void gcode_M851() {
+  void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
+    static float last_zoffset = NAN;
 
-    SERIAL_ECHO_START;
-    SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
-    SERIAL_CHAR(' ');
+    if (!isnan(last_zoffset)) {
 
-    if (code_seen('Z')) {
-      float value = code_value_axis_units(Z_AXIS);
-      if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
+      #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEPPING)
+        const float diff = zprobe_zoffset - last_zoffset;
+      #endif
 
-        #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-          // Correct bilinear grid for new probe offset
-          const float diff = value - zprobe_zoffset;
-          if (diff) {
-            for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
-              for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
-                bed_level_grid[x][y] += diff;
-          }
-          #if ENABLED(ABL_BILINEAR_SUBDIVISION)
-            bed_level_virt_interpolate();
-          #endif
+      #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+        // Correct bilinear grid for new probe offset
+        if (diff) {
+          for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+            for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
+              bed_level_grid[x][y] -= diff;
+        }
+        #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+          bed_level_virt_interpolate();
         #endif
+      #endif
 
+      #if ENABLED(BABYSTEPPING)
+        if (!no_babystep && planner.abl_enabled)
+          thermalManager.babystep_axis(Z_AXIS, -lround(diff * planner.axis_steps_per_mm[Z_AXIS]));
+      #else
+        UNUSED(no_babystep);
+      #endif
+    }
+
+    last_zoffset = zprobe_zoffset;
+  }
+
+  inline void gcode_M851() {
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
+    if (code_seen('Z')) {
+      const float value = code_value_axis_units(Z_AXIS);
+      if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
         zprobe_zoffset = value;
+        refresh_zprobe_zoffset();
         SERIAL_ECHO(zprobe_zoffset);
       }
-      else {
-        SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
-        SERIAL_CHAR(' ');
-        SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
-      }
+      else
+        SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
     }
-    else {
+    else
       SERIAL_ECHOPAIR(": ", zprobe_zoffset);
-    }
 
     SERIAL_EOL;
   }
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 9ada6f5360..72cf680a01 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -216,6 +216,10 @@ void MarlinSettings::postprocess() {
       //#endif
     );
   #endif
+
+  #if HAS_BED_PROBE
+    refresh_zprobe_zoffset();
+  #endif
 }
 
 #if ENABLED(EEPROM_SETTINGS)
@@ -344,7 +348,7 @@ void MarlinSettings::postprocess() {
     #endif // MESH_BED_LEVELING
 
     #if !HAS_BED_PROBE
-      float zprobe_zoffset = 0;
+      const float zprobe_zoffset = 0;
     #endif
     EEPROM_WRITE(zprobe_zoffset);
 
@@ -685,7 +689,7 @@ void MarlinSettings::postprocess() {
       #endif // MESH_BED_LEVELING
 
       #if !HAS_BED_PROBE
-        float zprobe_zoffset = 0;
+        float zprobe_zoffset;
       #endif
       EEPROM_READ(zprobe_zoffset);
 
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 19dbc233de..3ae8a313e6 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -834,7 +834,7 @@ void kill_screen(const char* lcd_msg) {
       if (lcd_clicked) { defer_return_to_status = false; return lcd_goto_previous_menu(); }
       ENCODER_DIRECTION_NORMAL();
       if (encoderPosition) {
-        int babystep_increment = (int32_t)encoderPosition * (BABYSTEP_MULTIPLICATOR);
+        const int babystep_increment = (int32_t)encoderPosition * (BABYSTEP_MULTIPLICATOR);
         encoderPosition = 0;
         lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
         thermalManager.babystep_axis(axis, babystep_increment);
@@ -850,8 +850,38 @@ void kill_screen(const char* lcd_msg) {
       void lcd_babystep_x() { lcd_goto_screen(_lcd_babystep_x); babysteps_done = 0; defer_return_to_status = true; }
       void lcd_babystep_y() { lcd_goto_screen(_lcd_babystep_y); babysteps_done = 0; defer_return_to_status = true; }
     #endif
-    void _lcd_babystep_z() { _lcd_babystep(Z_AXIS, PSTR(MSG_BABYSTEPPING_Z)); }
-    void lcd_babystep_z() { lcd_goto_screen(_lcd_babystep_z); babysteps_done = 0; defer_return_to_status = true; }
+
+    #if HAS_BED_PROBE
+
+      void lcd_babystep_zoffset() {
+        if (lcd_clicked) { defer_return_to_status = false; return lcd_goto_previous_menu(); }
+        defer_return_to_status = true;
+        ENCODER_DIRECTION_NORMAL();
+        if (encoderPosition) {
+          const int babystep_increment = (int32_t)encoderPosition * (BABYSTEP_MULTIPLICATOR);
+          encoderPosition = 0;
+
+          const float new_zoffset = zprobe_zoffset + steps_to_mm[Z_AXIS] * babystep_increment;
+          if (WITHIN(new_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
+
+            if (planner.abl_enabled)
+              thermalManager.babystep_axis(Z_AXIS, babystep_increment);
+
+            zprobe_zoffset = new_zoffset;
+            refresh_zprobe_zoffset(true);
+            lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
+          }
+        }
+        if (lcdDrawUpdate)
+          lcd_implementation_drawedit(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(zprobe_zoffset));
+      }
+
+    #else // !HAS_BED_PROBE
+
+      void _lcd_babystep_z() { _lcd_babystep(Z_AXIS, PSTR(MSG_BABYSTEPPING_Z)); }
+      void lcd_babystep_z() { lcd_goto_screen(_lcd_babystep_z); babysteps_done = 0; defer_return_to_status = true; }
+
+    #endif // HAS_BED_PROBE
 
   #endif //BABYSTEPPING
 
@@ -1057,7 +1087,9 @@ void kill_screen(const char* lcd_msg) {
         MENU_ITEM(submenu, MSG_BABYSTEP_X, lcd_babystep_x);
         MENU_ITEM(submenu, MSG_BABYSTEP_Y, lcd_babystep_y);
       #endif //BABYSTEP_XY
-      MENU_ITEM(submenu, MSG_BABYSTEP_Z, lcd_babystep_z);
+      #if !HAS_BED_PROBE
+        MENU_ITEM(submenu, MSG_BABYSTEP_Z, lcd_babystep_z);
+      #endif
     #endif
 
     //
@@ -2378,7 +2410,11 @@ void kill_screen(const char* lcd_msg) {
     START_MENU();
     MENU_BACK(MSG_CONTROL);
     #if HAS_BED_PROBE
-      MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+      #if ENABLED(BABYSTEPPING)
+        MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
+      #else
+        MENU_ITEM_EDIT_CALLBACK(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX, refresh_zprobe_zoffset);
+      #endif
     #endif
     // Manual bed leveling, Bed Z:
     #if ENABLED(MESH_BED_LEVELING) && ENABLED(LCD_BED_LEVELING)