diff --git a/src/modules/zenoh/CMakeLists.txt b/src/modules/zenoh/CMakeLists.txt
index 5854b0fd88..cb6908d977 100644
--- a/src/modules/zenoh/CMakeLists.txt
+++ b/src/modules/zenoh/CMakeLists.txt
@@ -111,6 +111,7 @@ px4_add_module(
 		${CMAKE_CURRENT_BINARY_DIR}/default_topics.c
 		MODULE_CONFIG
 			module.yaml
+			zenoh_params.yaml
 		DEPENDS
 			cdr
 			uorb_msgs
diff --git a/src/modules/zenoh/zenoh_params.c b/src/modules/zenoh/zenoh_params.c
deleted file mode 100644
index 1eddfb63f8..0000000000
--- a/src/modules/zenoh/zenoh_params.c
+++ /dev/null
@@ -1,48 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file zenoh_params.c
- *
- * Parameters defined by Zenoh
- *
- * @author Peter van der Perk <peter.vanderperk@nxp.com>
- */
-
-/**
- * ROS2 RMW_ZENOH_CPP Domain id
- *
- * @min 0
- * @max 232
- */
-PARAM_DEFINE_INT32(ZENOH_DOMAIN_ID, 0);
diff --git a/src/modules/zenoh/zenoh_params.yaml b/src/modules/zenoh/zenoh_params.yaml
new file mode 100644
index 0000000000..e7473cab6e
--- /dev/null
+++ b/src/modules/zenoh/zenoh_params.yaml
@@ -0,0 +1,11 @@
+module_name: zenoh
+parameters:
+- group: Miscellaneous
+  definitions:
+    ZENOH_DOMAIN_ID:
+      description:
+        short: ROS2 RMW_ZENOH_CPP Domain id
+      type: int32
+      default: 0
+      min: 0
+      max: 232