diff --git a/docs/tools/memory-layout-tool.rst b/docs/tools/memory-layout-tool.rst
index ce14dab..ff5188e 100644
--- a/docs/tools/memory-layout-tool.rst
+++ b/docs/tools/memory-layout-tool.rst
@@ -113,6 +113,40 @@
 
     poetry run memory --help
 
+Memory Footprint
+~~~~~~~~~~~~~~~~
+
+The tool enables users to view static memory consumption. When the options
+``-f``, or ``--footprint`` are provided, the script analyses the ELF binaries in
+the build path to generate a table (per memory type), showing memory allocation
+and usage. This is the default output generated by the tool.
+
+.. code:: shell
+
+    $ poetry run memory -f
+    build-path: build/fvp/release
+    +----------------------------------------------------------------------------+
+    |                         Memory Usage (bytes) [RAM]                         |
+    +-----------+------------+------------+------------+------------+------------+
+    | Component |   Start    |   Limit    |    Size    |    Free    |   Total    |
+    +-----------+------------+------------+------------+------------+------------+
+    |    BL1    |    4034000 |    4040000 |       7000 |       5000 |       c000 |
+    |    BL2    |    4021000 |    4034000 |       d000 |       6000 |      13000 |
+    |    BL2U   |    4021000 |    4034000 |       a000 |       9000 |      13000 |
+    |    BL31   |    4003000 |    4040000 |      1e000 |      1f000 |      3d000 |
+    +-----------+------------+------------+------------+------------+------------+
+
+    +----------------------------------------------------------------------------+
+    |                         Memory Usage (bytes) [ROM]                         |
+    +-----------+------------+------------+------------+------------+------------+
+    | Component |   Start    |   Limit    |    Size    |    Free    |   Total    |
+    +-----------+------------+------------+------------+------------+------------+
+    |    BL1    |          0 |    4000000 |       5df0 |    3ffa210 |    4000000 |
+    +-----------+------------+------------+------------+------------+------------+
+
+The script relies on symbols in the symbol table to determine the start, end,
+and limit addresses of each bootloader stage.
+
 --------------
 
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