diff --git a/src/Mod/Path/Generators/drill_generator.py b/src/Mod/Path/Generators/drill_generator.py
index 550b678a67..ac9b6b1e63 100644
--- a/src/Mod/Path/Generators/drill_generator.py
+++ b/src/Mod/Path/Generators/drill_generator.py
@@ -38,7 +38,7 @@ else:
     PathLog.setLevel(PathLog.Level.INFO, PathLog.thisModule())
 
 
-def generate(edge, dwelltime=0.0, peckdepth=0.0, repeat=1):
+def generate(edge, dwelltime=0.0, peckdepth=0.0, repeat=1, retractheight=None):
     startPoint = edge.Vertexes[0].Point
     endPoint = edge.Vertexes[1].Point
 
@@ -61,6 +61,9 @@ def generate(edge, dwelltime=0.0, peckdepth=0.0, repeat=1):
     if not type(dwelltime) is float:
         raise ValueError("dwelltime must be a float")
 
+    if retractheight is not None and not type(retractheight) is float:
+        raise ValueError("retractheight must be a float")
+
     if not (
         numpy.isclose(startPoint.sub(endPoint).x, 0, rtol=1e-05, atol=1e-06)
         and (numpy.isclose(startPoint.sub(endPoint).y, 0, rtol=1e-05, atol=1e-06))
@@ -74,7 +77,7 @@ def generate(edge, dwelltime=0.0, peckdepth=0.0, repeat=1):
     cmdParams["X"] = startPoint.x
     cmdParams["Y"] = startPoint.y
     cmdParams["Z"] = endPoint.z
-    cmdParams["R"] = startPoint.z
+    cmdParams["R"] = retractheight if retractheight is not None else startPoint.z
 
     if repeat > 1:
         cmdParams["L"] = repeat
diff --git a/src/Mod/Path/PathScripts/PathDrilling.py b/src/Mod/Path/PathScripts/PathDrilling.py
index b53bfd0ec6..fcb894c9ec 100644
--- a/src/Mod/Path/PathScripts/PathDrilling.py
+++ b/src/Mod/Path/PathScripts/PathDrilling.py
@@ -233,7 +233,9 @@ class ObjectDrilling(PathCircularHoleBase.ObjectOp):
             repeat = 1  # technical debt:  Add a repeat property for user control
 
             try:
-                drillcommands = generator.generate(edge, dwelltime, peckdepth, repeat)
+                drillcommands = generator.generate(
+                    edge, dwelltime, peckdepth, repeat, obj.RetractHeight.Value
+                )
 
             except ValueError as e:  # any targets that fail the generator are ignored
                 PathLog.info(e)
diff --git a/src/Mod/Path/PathTests/TestPathDrillGenerator.py b/src/Mod/Path/PathTests/TestPathDrillGenerator.py
index 78837b1965..ef8d814304 100644
--- a/src/Mod/Path/PathTests/TestPathDrillGenerator.py
+++ b/src/Mod/Path/PathTests/TestPathDrillGenerator.py
@@ -114,3 +114,41 @@ class TestPathDrillGenerator(PathTestUtils.PathTestBase):
         # dwelltime should be a float
         args = {"edge": e, "dwelltime": 1}
         self.assertRaises(ValueError, generator.generate, **args)
+
+    def test40(self):
+        """Specifying retract height should set R parameter to specified value"""
+        v1 = FreeCAD.Vector(0, 0, 10)
+        v2 = FreeCAD.Vector(0, 0, 0)
+
+        e = Part.makeLine(v1, v2)
+
+        result = generator.generate(e, retractheight=20.0)
+
+        command = result[0]
+
+        self.assertTrue(command.Parameters["R"] == 20.0)
+
+    def test41(self):
+        """Not specifying retract height should set R parameter to Z position of start point"""
+        v1 = FreeCAD.Vector(0, 0, 10)
+        v2 = FreeCAD.Vector(0, 0, 0)
+
+        e = Part.makeLine(v1, v2)
+
+        result = generator.generate(e)
+
+        command = result[0]
+
+        self.assertTrue(command.Parameters["R"] == 10.0)
+
+    def test42(self):
+        """Non-float retract height should raise ValueError"""
+        v1 = FreeCAD.Vector(0, 0, 10)
+        v2 = FreeCAD.Vector(0, 0, 0)
+
+        e = Part.makeLine(v1, v2)
+
+        args = {"edge": e, "retractheight": 1}
+        self.assertRaises(ValueError, generator.generate, **args)
+        args = {"edge": e, "retractheight": "1"}
+        self.assertRaises(ValueError, generator.generate, **args)