Background Transcutaneous electrostimulation of the auricular branch of the vagal nerve (taVNS) has the propensity to reach diffuse neuromodulatory networks, which are dysfunctional in Parkinson's disease (PD). Previous studies support the use of taVNS as an add‐on treatment for gait in PD. Objectives We assessed the effect of taVNS at 25 Hz (taVNS25), taVNS at 100 Hz (taVNS100), and sham earlobe stimulation (sVNS) on levodopa responsive (arm swing velocity, arm range of motion, stride length, gait speed) and non‐responsive gait characteristics (arm range of motion asymmetry, anticipatory postural adjustment APA duration, APA first step duration, APA first step range of motion), and turns (first turn duration, double 360° turn duration, steps per turn) in advanced PD. Methods In our double blind sham controlled within‐subject randomized trial, we included 30 PD patients (modified Hoehn and Yahr stage, 2.5–4) to assess the effect of taVNS25, taVNS100, and sVNS on gait characteristics measured with inertial motion sensors during the instrumented stand and walk test and a double 360° turn. Separate generalized mixed models were built for each gait characteristic. Results During taVNS100 compared to sVNS arm swing velocity (P = 0.030) and stride length increased (P = 0.027), and APA duration decreased (P = 0.050). During taVNS25 compared to sVNS stride length (P = 0.024) and gait speed (P = 0.021) increased and double 360° turn duration decreased (P = 0.039). Conclusions We have found that taVNS has a frequency specific propensity to improve stride length, arm swing velocity, and gait speed and double 360° turn duration in PD patients. © 2024 The Authors. Movement Disorders published by Wiley Periodicals LLC on behalf of International Parkinson and Movement Disorder Society. Thirty advanced Parkinson's disease patients underwent transcutaneous auricular vagal nerve stimulation (taVNS) at 25 Hz (taVNS25), taVNS at 100 Hz (taVNS100), and sham earlobe stimulation. Compared to sham taVNS100 improved arm swing velocity, stride length, and anticipatory postural adjustment (APA) duration, and taVNS25 improved stride length, gait speed, and double 360° turn duration.