diff --git a/doc/manual/howto/render-test-specifications.rst b/doc/manual/howto/render-test-specifications.rst
index d926fa7..3bff7d5 100644
--- a/doc/manual/howto/render-test-specifications.rst
+++ b/doc/manual/howto/render-test-specifications.rst
@@ -84,8 +84,9 @@ vocabulary rather than ``test_case``/``verifies``/etc., is a matching pair of
       :module: checks/widget/probe
 
 The argument is the Doxygen **module** group's name, never a suite; ``:module:``
-is a project-relative path used only to find that module's ``testcase.yaml``
-for the scenario table.
+is a project-relative path used only to find that module's scenario file
+for the scenario table. That file is the first of ``testcase.yaml``,
+``tests.yaml`` and ``sample.yaml`` that exists, in twister's order.
 
 6. Add the report half (optional)
 ---------------------------------------
diff --git a/doc/manual/reference/directives-and-roles.rst b/doc/manual/reference/directives-and-roles.rst
index 0c3666b..9336518 100644
--- a/doc/manual/reference/directives-and-roles.rst
+++ b/doc/manual/reference/directives-and-roles.rst
@@ -100,7 +100,8 @@ The chain from annotated ztest C source to a rendered, traceable test report
 
 ``testmodule``'s argument is a Doxygen ``@defgroup`` name (the *module* group,
 never a suite or a path); ``:module:`` is a project-relative path used only to
-locate that module's ``testcase.yaml`` for the rendered scenario table. Every
+locate that module's scenario file for the rendered scenario table: the first
+of ``testcase.yaml``, ``tests.yaml`` and ``sample.yaml`` that exists. Every
 ``ZTEST``/``ZTEST_SUITE``/... in the named group and its inner suite/procedure
 groups becomes one need each — nothing is written by hand per test case.
 
diff --git a/sphinx/_extensions/_tests/test_rst_builders.py b/sphinx/_extensions/_tests/test_rst_builders.py
index b6a23bb..f112253 100644
--- a/sphinx/_extensions/_tests/test_rst_builders.py
+++ b/sphinx/_extensions/_tests/test_rst_builders.py
@@ -196,6 +196,33 @@ def test_build_scenario_table_missing_yaml():
     assert lines == []
 
 
+def test_find_scenario_yaml_takes_tests_yaml(tmp_path):
+    # Newer Zephyr trees name the file tests.yaml.
+    (tmp_path / "tests.yaml").write_text("tests: {}\n")
+    assert rb.find_scenario_yaml(tmp_path) == tmp_path / "tests.yaml"
+
+
+def test_find_scenario_yaml_takes_sample_yaml(tmp_path):
+    (tmp_path / "sample.yaml").write_text("tests: {}\n")
+    assert rb.find_scenario_yaml(tmp_path) == tmp_path / "sample.yaml"
+
+
+def test_find_scenario_yaml_follows_twister_order(tmp_path):
+    # Twister reads testcase.yaml first, so it wins over tests.yaml.
+    for name in ("testcase.yaml", "tests.yaml", "sample.yaml"):
+        (tmp_path / name).write_text("tests: {}\n")
+    assert rb.find_scenario_yaml(tmp_path) == tmp_path / "testcase.yaml"
+
+
+def test_find_scenario_yaml_warns_with_the_names_it_tried(tmp_path, caplog):
+    with caplog.at_level("WARNING", logger=rb.logger.name):
+        assert rb.find_scenario_yaml(tmp_path) is None
+    message = caplog.text
+    assert str(tmp_path) in message
+    for name in ("testcase.yaml", "tests.yaml", "sample.yaml"):
+        assert name in message
+
+
 def test_build_procedure_need_rst_links_prose_but_keeps_title_plain():
     # A need's title is not parsed as RST, so link markup there would render
     # verbatim; the details are parsed and link like the see-also line does.
diff --git a/sphinx/_extensions/_tests/test_test_module.py b/sphinx/_extensions/_tests/test_test_module.py
index 0dfba95..be2b532 100644
--- a/sphinx/_extensions/_tests/test_test_module.py
+++ b/sphinx/_extensions/_tests/test_test_module.py
@@ -406,7 +406,7 @@ def test_testmodule_directive_suite_heading(app):
 
 
 @pytest.mark.sphinx("html", srcdir=str(_ROOTS / "test-testmodule"))
-def test_testmodule_directive_notes_its_xml_and_testcase_yaml_as_inputs(app):
+def test_testmodule_directive_notes_its_xml_and_scenario_files_as_inputs(app):
     # Without these, an incremental build after the test sources change (a
     # retagged status, a renamed test) keeps the old test cases.
     app.build()
@@ -414,7 +414,8 @@ def test_testmodule_directive_notes_its_xml_and_testcase_yaml_as_inputs(app):
     xml_dir = Path(app.config.testmodule_xml_dir)
     assert str(xml_dir / "index.xml") in inputs
     assert any(p.endswith(".xml") and "group__" in p for p in inputs)
-    assert any(p.endswith("testcase.yaml") for p in inputs)
+    for name in ("testcase.yaml", "tests.yaml", "sample.yaml"):
+        assert any(p.endswith(name) for p in inputs)
 
 
 @pytest.mark.sphinx("html", srcdir=str(_ROOTS / "test-testmodule"))
diff --git a/sphinx/_extensions/rst_builders.py b/sphinx/_extensions/rst_builders.py
index 581e15a..44319ff 100644
--- a/sphinx/_extensions/rst_builders.py
+++ b/sphinx/_extensions/rst_builders.py
@@ -23,6 +23,8 @@
     "build_result_rst",
     "build_symbol_need_rst",
     "build_scenario_table",
+    "SCENARIO_YAML_NAMES",
+    "find_scenario_yaml",
 ]
 
 logger = logging.getLogger(__name__)
@@ -392,8 +394,32 @@ def build_symbol_need_rst(info, need_names=None, depends_field=False):
     return "\n".join(lines)
 
 
+# The names that twister reads for the scenarios of a test directory, in
+# twister's order (scripts/pylib/twister/twisterlib/testplan.py). Newer Zephyr
+# trees name the file tests.yaml, older ones testcase.yaml.
+SCENARIO_YAML_NAMES = ("testcase.yaml", "tests.yaml", "sample.yaml")
+
+
+def find_scenario_yaml(module_dir):
+    """Return the first scenario file in ``module_dir`` that exists, or None.
+
+    The names come from ``SCENARIO_YAML_NAMES``. When no file exists, log a
+    warning that names each file it tried.
+    """
+    module_dir = Path(module_dir)
+    for name in SCENARIO_YAML_NAMES:
+        path = module_dir / name
+        if path.is_file():
+            return path
+    logger.warning(
+        f"testmodule: no scenario file in {module_dir} "
+        f"(tried {', '.join(SCENARIO_YAML_NAMES)})"
+    )
+    return None
+
+
 def build_scenario_table(testcase_yaml_path):
-    """Return RST lines for a list-table of scenarios from testcase.yaml."""
+    """Return RST lines for a list-table of scenarios from a scenario file."""
     try:
         with open(testcase_yaml_path) as f:
             data = yaml.safe_load(f)
diff --git a/sphinx/_extensions/test_module.py b/sphinx/_extensions/test_module.py
index 06b8b66..06e18ee 100644
--- a/sphinx/_extensions/test_module.py
+++ b/sphinx/_extensions/test_module.py
@@ -20,11 +20,13 @@
 from needs_fields import depends_field, field_type
 from rst_builders import (
     RESULT_FIELD_ROLES,
+    SCENARIO_YAML_NAMES,
     _need_name,
     build_need_rst,
     build_procedure_need_rst,
     build_result_rst,
     build_scenario_table,
+    find_scenario_yaml,
 )
 from sphinx.util import logging
 from twister_reader import (
@@ -629,9 +631,13 @@ def run(self):
         suite_refids, proc_refids = _classify_inner_groups(module_cdef, xml_dir)
 
         need_names = _need_names_from_config(app)
-        testcase_yaml = Path(module_root) / module_path / "testcase.yaml"
-        _note_input(env, testcase_yaml)
-        scenario_lines = build_scenario_table(testcase_yaml)
+        # Each name twister accepts is an input, so a scenario file that is
+        # added or renamed later also re-reads the document.
+        module_dir = Path(module_root) / module_path
+        for name in SCENARIO_YAML_NAMES:
+            _note_input(env, module_dir / name)
+        scenario_yaml = find_scenario_yaml(module_dir)
+        scenario_lines = build_scenario_table(scenario_yaml) if scenario_yaml else []
         all_rst = list(scenario_lines)
         for suite_refid in suite_refids:
             all_rst += _build_suite_rst(