diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
index 3239a6dac339..95ab15279972 100644
--- a/api/src/opentrons/protocol_api/instrument_context.py
+++ b/api/src/opentrons/protocol_api/instrument_context.py
@@ -70,6 +70,16 @@
 AdvancedLiquidHandling = v1_transfer.AdvancedLiquidHandling
 
 
+class _Unset:
+    """A sentinel value when no value has been supplied for an argument.
+    User code should never use this explicitly."""
+
+    def __repr__(self) -> str:
+        # Without this, the generated docs render the argument as
+        # "<opentrons.protocol_api.instrument_context._Unset object at 0x1234>"
+        return self.__class__.__name__
+
+
 class InstrumentContext(publisher.CommandPublisher):
     """
     A context for a specific pipette or instrument.
@@ -644,12 +654,13 @@ def _determine_speed(self, speed: float) -> float:
 
     @publisher.publish(command=cmds.touch_tip)
     @requires_version(2, 0)
-    def touch_tip(
+    def touch_tip(  # noqa: C901
         self,
         location: Optional[labware.Well] = None,
         radius: float = 1.0,
         v_offset: float = -1.0,
         speed: float = 60.0,
+        mm_from_edge: Union[float, _Unset] = _Unset(),
     ) -> InstrumentContext:
         """
         Touch the pipette tip to the sides of a well, with the intent of removing leftover droplets.
@@ -675,12 +686,28 @@ def touch_tip(
                         - Maximum: 80.0 mm/s
                         - Minimum: 1.0 mm/s
         :type speed: float
+        :param mm_from_edge: How far to move inside the well, as a distance from the
+                             well's edge.
+                             When ``mm_from_edge=0``, the pipette tip will move all the
+                             way to the edge of the target well. When ``mm_from_edge=1``,
+                             the pipette tip will move to 1 mm from the well's edge.
+                             Lower values will press the tip harder into the well's
+                             walls; higher values will touch the well more lightly, or
+                             not at all.
+                             ``mm_from_edge`` and ``radius`` are mutually exclusive: to
+                             use ``mm_from_edge``, ``radius`` must be unspecified (left
+                             to its default value of 1.0).
+        :type mm_from_edge: float
         :raises: ``UnexpectedTipRemovalError`` -- If no tip is attached to the pipette.
         :raises RuntimeError: If no location is specified and the location cache is
                               ``None``. This should happen if ``touch_tip`` is called
                               without first calling a method that takes a location, like
                               :py:meth:`.aspirate` or :py:meth:`dispense`.
+        :raises: ValueError: If both ``mm_to_edge`` and ``radius`` are specified.
         :returns: This instance.
+
+        .. versionchanged:: 2.24
+                Added the ``mm_from_edge`` parameter.
         """
         if not self._core.has_tip():
             raise UnexpectedTipRemovalError("touch_tip", self.name, self.mount)
@@ -703,6 +730,18 @@ def touch_tip(
         else:
             raise TypeError(f"location should be a Well, but it is {location}")
 
+        if not isinstance(mm_from_edge, _Unset):
+            if self.api_version < APIVersion(2, 24):
+                raise APIVersionError(
+                    api_element="mm_from_edge",
+                    until_version="2.24",
+                    current_version=f"{self.api_version}",
+                )
+            if radius != 1.0:
+                raise ValueError(
+                    "radius must be set to 1.0 if mm_from_edge is specified"
+                )
+
         if "touchTipDisabled" in parent_labware.quirks:
             _log.info(f"Ignoring touch tip on labware {well}")
             return self
@@ -722,6 +761,7 @@ def touch_tip(
             radius=radius,
             z_offset=v_offset,
             speed=checked_speed,
+            mm_from_edge=mm_from_edge if not isinstance(mm_from_edge, _Unset) else None,
         )
         return self
 
diff --git a/api/src/opentrons/protocols/api_support/definitions.py b/api/src/opentrons/protocols/api_support/definitions.py
index a353e1d49fe9..b96440a3295b 100644
--- a/api/src/opentrons/protocols/api_support/definitions.py
+++ b/api/src/opentrons/protocols/api_support/definitions.py
@@ -1,6 +1,6 @@
 from .types import APIVersion
 
-MAX_SUPPORTED_VERSION = APIVersion(2, 23)
+MAX_SUPPORTED_VERSION = APIVersion(2, 24)
 """The maximum supported protocol API version in this release."""
 
 MIN_SUPPORTED_VERSION = APIVersion(2, 0)
diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py
index 78e1101a1ee4..8f8f7c419376 100644
--- a/api/tests/opentrons/protocol_api/test_instrument_context.py
+++ b/api/tests/opentrons/protocol_api/test_instrument_context.py
@@ -1043,6 +1043,8 @@ def test_touch_tip(
 
     decoy.when(mock_well.parent.quirks).then_return([])
 
+    # touch_tip() with the old `radius` argument:
+
     subject.touch_tip(mock_well, radius=0.123, v_offset=4.56, speed=42.0)
 
     decoy.verify(
@@ -1052,9 +1054,31 @@ def test_touch_tip(
             radius=0.123,
             z_offset=4.56,
             speed=42.0,
+            mm_from_edge=None,
         )
     )
 
+    # touch_tip() with the new `mm_from_edge` argument:
+
+    subject.touch_tip(mock_well, v_offset=4.56, speed=42.0, mm_from_edge=0.5)
+
+    decoy.verify(
+        mock_instrument_core.touch_tip(
+            location=Location(point=Point(1, 2, 3), labware=mock_well),
+            well_core=mock_well._core,
+            radius=1,
+            z_offset=4.56,
+            speed=42.0,
+            mm_from_edge=0.5,
+        )
+    )
+
+    # `radius` and `mm_from_edge` are mutually exclusive, should raise if both specified:
+    with pytest.raises(ValueError):
+        subject.touch_tip(
+            mock_well, radius=0.75, v_offset=4.56, speed=42.0, mm_from_edge=0.5
+        )
+
 
 def test_return_height(
     decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext