diff --git a/packages/cli/src/cli.ts b/packages/cli/src/cli.ts
index 1eb8a80fd..336d3015a 100644
--- a/packages/cli/src/cli.ts
+++ b/packages/cli/src/cli.ts
@@ -8,6 +8,7 @@ import { createPermitCommand } from "./commands/permit/index.js";
 import { createProviderCommand } from "./commands/provider/index.js";
 import { createScheduleCommand } from "./commands/schedule/index.js";
 import { createSpeechCommand } from "./commands/speech/index.js";
+import { createTerminalCommand } from "./commands/terminal/index.js";
 import { createWorktreeCommand } from "./commands/worktree/index.js";
 import { startCommand as daemonStartCommand } from "./commands/daemon/start.js";
 import { runStatusCommand as runDaemonStatusCommand } from "./commands/daemon/status.js";
@@ -143,6 +144,9 @@ export function createCli(): Command {
   // Chat commands
   program.addCommand(createChatCommand());
 
+  // Terminal commands
+  program.addCommand(createTerminalCommand());
+
   // Loop commands
   program.addCommand(createLoopCommand());
 
diff --git a/packages/cli/src/commands/terminal/capture.ts b/packages/cli/src/commands/terminal/capture.ts
new file mode 100644
index 000000000..2dc8f2180
--- /dev/null
+++ b/packages/cli/src/commands/terminal/capture.ts
@@ -0,0 +1,99 @@
+import type { Command } from "commander";
+import { renderError, toCommandError } from "../../output/render.js";
+import {
+  connectTerminalClient,
+  resolveTerminalId,
+  toTerminalCommandError,
+  type TerminalCommandOptions,
+} from "./shared.js";
+
+export interface TerminalCaptureOptions extends TerminalCommandOptions {
+  start?: string;
+  end?: string;
+  scrollback?: boolean;
+  ansi?: boolean;
+}
+
+export async function runCaptureCommand(
+  terminalId: string,
+  _options: TerminalCaptureOptions,
+  command: Command,
+): Promise<void> {
+  const options = command.optsWithGlobals() as TerminalCaptureOptions;
+
+  try {
+    const payload = await executeCaptureCommand(terminalId, options);
+    if (options.json) {
+      process.stdout.write(
+        JSON.stringify(
+          {
+            terminalId: payload.terminalId,
+            lines: payload.lines,
+            totalLines: payload.totalLines,
+          },
+          null,
+          2,
+        ) + "\n",
+      );
+      return;
+    }
+
+    if (payload.lines.length > 0) {
+      process.stdout.write(payload.lines.join("\n") + "\n");
+    }
+  } catch (err) {
+    const output = renderError(toCommandError(err), {
+      format: options.json ? "json" : "table",
+      noColor: options.color === false,
+    });
+    process.stderr.write(output + "\n");
+    process.exit(1);
+  }
+}
+
+async function executeCaptureCommand(
+  terminalId: string,
+  options: TerminalCaptureOptions,
+): Promise<{ terminalId: string; lines: string[]; totalLines: number }> {
+  const { client } = await connectTerminalClient(options.host);
+
+  try {
+    const resolvedId = await resolveTerminalId(client, terminalId);
+    if (!resolvedId) {
+      throw {
+        code: "TERMINAL_NOT_FOUND",
+        message: `No terminal found matching: ${terminalId}`,
+        details: "Use `paseo terminal ls --all` to list available terminals.",
+      };
+    }
+
+    const start = options.scrollback ? 0 : parseLineNumber("--start", options.start);
+    const end = parseLineNumber("--end", options.end);
+
+    return await client.captureTerminal(resolvedId, {
+      ...(start === undefined ? {} : { start }),
+      ...(end === undefined ? {} : { end }),
+      stripAnsi: !options.ansi,
+    });
+  } catch (err) {
+    throw toTerminalCommandError("TERMINAL_CAPTURE_FAILED", "capture terminal output", err);
+  } finally {
+    await client.close().catch(() => {});
+  }
+}
+
+function parseLineNumber(flag: string, value?: string): number | undefined {
+  if (value === undefined) {
+    return undefined;
+  }
+
+  const parsed = Number.parseInt(value, 10);
+  if (!Number.isInteger(parsed)) {
+    throw {
+      code: "INVALID_LINE_NUMBER",
+      message: `Invalid ${flag} value: ${value}`,
+      details: "Use an integer line number.",
+    };
+  }
+  return parsed;
+}
diff --git a/packages/cli/src/commands/terminal/create.ts b/packages/cli/src/commands/terminal/create.ts
new file mode 100644
index 000000000..71e662052
--- /dev/null
+++ b/packages/cli/src/commands/terminal/create.ts
@@ -0,0 +1,41 @@
+import type { Command } from "commander";
+import type { SingleResult, CommandError } from "../../output/index.js";
+import {
+  connectTerminalClient,
+  toTerminalCommandError,
+  type TerminalCommandOptions,
+} from "./shared.js";
+import { terminalSchema, type TerminalRow, toTerminalRow } from "./schema.js";
+
+export interface TerminalCreateOptions extends TerminalCommandOptions {
+  cwd?: string;
+  name?: string;
+}
+
+export async function runCreateCommand(
+  options: TerminalCreateOptions,
+  _command: Command,
+): Promise<SingleResult<TerminalRow>> {
+  const { client } = await connectTerminalClient(options.host);
+  const cwd = options.cwd ?? process.cwd();
+
+  try {
+    const payload = await client.createTerminal(cwd, options.name);
+    if (!payload.terminal) {
+      const error: CommandError = {
+        code: "TERMINAL_CREATE_FAILED",
+        message: payload.error ?? "Failed to create terminal",
+      };
+      throw error;
+    }
+    return {
+      type: "single",
+      data: toTerminalRow(payload.terminal),
+      schema: terminalSchema,
+    };
+  } catch (err) {
+    throw toTerminalCommandError("TERMINAL_CREATE_FAILED", "create terminal", err);
+  } finally {
+    await client.close().catch(() => {});
+  }
+}
diff --git a/packages/cli/src/commands/terminal/index.ts b/packages/cli/src/commands/terminal/index.ts
new file mode 100644
index 000000000..0d0ddfd8b
--- /dev/null
+++ b/packages/cli/src/commands/terminal/index.ts
@@ -0,0 +1,59 @@
+import { Command } from "commander";
+import { withOutput } from "../../output/index.js";
+import { addDaemonHostOption, addJsonAndDaemonHostOptions } from "../../utils/command-options.js";
+import { runCaptureCommand } from "./capture.js";
+import { runCreateCommand } from "./create.js";
+import { runKillCommand } from "./kill.js";
+import { runLsCommand } from "./ls.js";
+import { runSendKeysCommand } from "./send-keys.js";
+
+export function createTerminalCommand(): Command {
+  const terminal = new Command("terminal").description("Manage workspace terminals");
+
+  addJsonAndDaemonHostOptions(
+    terminal
+      .command("ls")
+      .description("List terminals")
+      .option("--all", "List terminals across all workspaces")
+      .option("--cwd <path>", "Workspace directory"),
+  ).action(withOutput(runLsCommand));
+
+  addJsonAndDaemonHostOptions(
+    terminal
+      .command("create")
+      .description("Create a terminal")
+      .option("--cwd <path>", "Workspace directory")
+      .option("--name <name>", "Terminal name"),
+  ).action(withOutput(runCreateCommand));
+
+  addJsonAndDaemonHostOptions(
+    terminal
+      .command("kill")
+      .description("Kill a terminal")
+      .argument("<terminal-id>", "Terminal ID, ID prefix, or name"),
+  ).action(withOutput(runKillCommand));
+
+  addDaemonHostOption(
+    terminal
+      .command("capture")
+      .description("Capture terminal output")
+      .argument("<terminal-id>", "Terminal ID, ID prefix, or name")
+      .option("--start <n>", "Capture start line")
+      .option("--end <n>", "Capture end line")
+      .option("-S, --scrollback", "Capture from the beginning of scrollback")
+      .option("--ansi", "Preserve ANSI escape codes")
+      .option("--json", "Output in JSON format"),
+  ).action(runCaptureCommand);
+
+  addDaemonHostOption(
+    terminal
+      .command("send-keys")
+      .description("Send keys to a terminal")
+      .argument("<terminal-id>", "Terminal ID, ID prefix, or name")
+      .argument("<keys...>", "Keys to send")
+      .option("-l, --literal", "Send raw keys without interpreting special tokens")
+      .option("--json", "Output in JSON format"),
+  ).action(runSendKeysCommand);
+
+  return terminal;
+}
diff --git a/packages/cli/src/commands/terminal/kill.ts b/packages/cli/src/commands/terminal/kill.ts
new file mode 100644
index 000000000..0a574e16d
--- /dev/null
+++ b/packages/cli/src/commands/terminal/kill.ts
@@ -0,0 +1,51 @@
+import type { Command } from "commander";
+import type { CommandError, SingleResult } from "../../output/index.js";
+import {
+  connectTerminalClient,
+  resolveTerminalId,
+  toTerminalCommandError,
+  type TerminalCommandOptions,
+} from "./shared.js";
+import { terminalKillSchema, type TerminalKillRow } from "./schema.js";
+
+export async function runKillCommand(
+  terminalId: string,
+  options: TerminalCommandOptions,
+  _command: Command,
+): Promise<SingleResult<TerminalKillRow>> {
+  const { client } = await connectTerminalClient(options.host);
+
+  try {
+    const resolvedId = await requireTerminalId(client, terminalId);
+    const payload = await client.killTerminal(resolvedId);
+    return {
+      type: "single",
+      data: {
+        terminalId: payload.terminalId,
+        success: payload.success,
+      },
+      schema: terminalKillSchema,
+    };
+  } catch (err) {
+    throw toTerminalCommandError("TERMINAL_KILL_FAILED", "kill terminal", err);
+  } finally {
+    await client.close().catch(() => {});
+  }
+}
+
+async function requireTerminalId(
+  client: Awaited<ReturnType<typeof connectTerminalClient>>["client"],
+  terminalId: string,
+): Promise<string> {
+  const resolvedId = await resolveTerminalId(client, terminalId);
+  if (resolvedId) {
+    return resolvedId;
+  }
+
+  const error: CommandError = {
+    code: "TERMINAL_NOT_FOUND",
+    message: `No terminal found matching: ${terminalId}`,
+    details: "Use `paseo terminal ls --all` to list available terminals.",
+  };
+  throw error;
+}
diff --git a/packages/cli/src/commands/terminal/ls.ts b/packages/cli/src/commands/terminal/ls.ts
new file mode 100644
index 000000000..7f47bee18
--- /dev/null
+++ b/packages/cli/src/commands/terminal/ls.ts
@@ -0,0 +1,34 @@
+import type { Command } from "commander";
+import type { ListResult } from "../../output/index.js";
+import {
+  connectTerminalClient,
+  toTerminalCommandError,
+  type TerminalCommandOptions,
+} from "./shared.js";
+import { terminalSchema, type TerminalRow, toTerminalRow } from "./schema.js";
+
+export interface TerminalLsOptions extends TerminalCommandOptions {
+  all?: boolean;
+  cwd?: string;
+}
+
+export async function runLsCommand(
+  options: TerminalLsOptions,
+  _command: Command,
+): Promise<ListResult<TerminalRow>> {
+  const { client } = await connectTerminalClient(options.host);
+  const cwd = options.all ? undefined : (options.cwd ?? process.cwd());
+
+  try {
+    const payload = cwd === undefined ? await client.listTerminals() : await client.listTerminals(cwd);
+    return {
+      type: "list",
+      data: payload.terminals.map((terminal) => toTerminalRow(terminal, payload.cwd ?? cwd)),
+      schema: terminalSchema,
+    };
+  } catch (err) {
+    throw toTerminalCommandError("TERMINAL_LIST_FAILED", "list terminals", err);
+  } finally {
+    await client.close().catch(() => {});
+  }
+}
diff --git a/packages/cli/src/commands/terminal/schema.ts b/packages/cli/src/commands/terminal/schema.ts
new file mode 100644
index 000000000..9b777ad19
--- /dev/null
+++ b/packages/cli/src/commands/terminal/schema.ts
@@ -0,0 +1,44 @@
+import type { OutputSchema } from "../../output/index.js";
+
+export interface TerminalRow {
+  id: string;
+  name: string;
+  cwd: string;
+}
+
+export interface TerminalKillRow {
+  terminalId: string;
+  success: boolean;
+}
+
+export const terminalSchema: OutputSchema<TerminalRow> = {
+  idField: "id",
+  columns: [
+    { header: "ID", field: (row) => row.id.slice(0, 8), width: 8 },
+    { header: "NAME", field: "name", width: 24 },
+    { header: "CWD", field: "cwd", width: 48 },
+  ],
+};
+
+export const terminalKillSchema: OutputSchema<TerminalKillRow> = {
+  idField: "terminalId",
+  columns: [
+    { header: "ID", field: (row) => row.terminalId.slice(0, 8), width: 8 },
+    { header: "SUCCESS", field: "success", width: 8 },
+  ],
+};
+
+export function toTerminalRow(
+  terminal: {
+    id: string;
+    name: string;
+    cwd?: string;
+  },
+  cwd?: string,
+): TerminalRow {
+  return {
+    id: terminal.id,
+    name: terminal.name,
+    cwd: terminal.cwd ?? cwd ?? "-",
+  };
+}
diff --git a/packages/cli/src/commands/terminal/send-keys.ts b/packages/cli/src/commands/terminal/send-keys.ts
new file mode 100644
index 000000000..f109cece6
--- /dev/null
+++ b/packages/cli/src/commands/terminal/send-keys.ts
@@ -0,0 +1,99 @@
+import type { Command } from "commander";
+import { renderError, toCommandError } from "../../output/render.js";
+import {
+  connectTerminalClient,
+  resolveTerminalId,
+  toTerminalCommandError,
+  type TerminalCommandOptions,
+} from "./shared.js";
+
+export interface TerminalSendKeysOptions extends TerminalCommandOptions {
+  literal?: boolean;
+}
+
+export async function runSendKeysCommand(
+  terminalId: string,
+  keys: string[],
+  _options: TerminalSendKeysOptions,
+  command: Command,
+): Promise<void> {
+  const options = command.optsWithGlobals() as TerminalSendKeysOptions;
+
+  try {
+    const payload = await executeSendKeysCommand(terminalId, keys, options);
+    if (options.json) {
+      process.stdout.write(JSON.stringify(payload, null, 2) + "\n");
+    }
+  } catch (err) {
+    const output = renderError(toCommandError(err), {
+      format: options.json ? "json" : "table",
+      noColor: options.color === false,
+    });
+    process.stderr.write(output + "\n");
+    process.exit(1);
+  }
+}
+
+async function executeSendKeysCommand(
+  terminalId: string,
+  keys: string[],
+  options: TerminalSendKeysOptions,
+): Promise<{ terminalId: string; keysSent: number }> {
+  const { client } = await connectTerminalClient(options.host);
+
+  try {
+    const resolvedId = await resolveTerminalId(client, terminalId);
+    if (!resolvedId) {
+      throw {
+        code: "TERMINAL_NOT_FOUND",
+        message: `No terminal found matching: ${terminalId}`,
+        details: "Use `paseo terminal ls --all` to list available terminals.",
+      };
+    }
+
+    const data = keys.map((key) => resolveKeyToken(key, options.literal === true)).join("");
+    client.sendTerminalInput(resolvedId, { type: "input", data });
+
+    return {
+      terminalId: resolvedId,
+      keysSent: data.length,
+    };
+  } catch (err) {
+    throw toTerminalCommandError("TERMINAL_SEND_KEYS_FAILED", "send terminal keys", err);
+  } finally {
+    await client.close().catch(() => {});
+  }
+}
+
+function resolveKeyToken(key: string, literal: boolean): string {
+  if (literal) {
+    return key;
+  }
+
+  switch (key) {
+    case "Enter":
+      return "\r";
+    case "Tab":
+      return "\t";
+    case "Escape":
+      return "\u001b";
+    case "Space":
+      return " ";
+    case "BSpace":
+      return "\u007f";
+    case "C-c":
+      return "\u0003";
+    case "C-d":
+      return "\u0004";
+    case "C-z":
+      return "\u001a";
+    case "C-l":
+      return "\u000c";
+    case "C-a":
+      return "\u0001";
+    case "C-e":
+      return "\u0005";
+    default:
+      return key;
+  }
+}
diff --git a/packages/cli/src/commands/terminal/shared.ts b/packages/cli/src/commands/terminal/shared.ts
new file mode 100644
index 000000000..6e0493657
--- /dev/null
+++ b/packages/cli/src/commands/terminal/shared.ts
@@ -0,0 +1,87 @@
+import { connectToDaemon, getDaemonHost } from "../../utils/client.js";
+import type { CommandError, CommandOptions } from "../../output/index.js";
+
+export interface TerminalCommandOptions extends CommandOptions {
+  host?: string;
+}
+
+interface TerminalLike {
+  id: string;
+  name?: string | null;
+}
+
+export async function connectTerminalClient(host?: string) {
+  const daemonHost = getDaemonHost({ host });
+  try {
+    const client = await connectToDaemon({ host });
+    return { client, daemonHost };
+  } catch (err) {
+    const message = err instanceof Error ? err.message : String(err);
+    const error: CommandError = {
+      code: "DAEMON_NOT_RUNNING",
+      message: `Cannot connect to daemon at ${daemonHost}: ${message}`,
+      details: "Start the daemon with: paseo daemon start",
+    };
+    throw error;
+  }
+}
+
+export function toTerminalCommandError(code: string, action: string, err: unknown): CommandError {
+  if (err && typeof err === "object" && "code" in err && "message" in err) {
+    return err as CommandError;
+  }
+
+  const message = err instanceof Error ? err.message : String(err);
+  const rpcCode =
+    typeof err === "object" && err !== null && "code" in err && typeof err.code === "string"
+      ? err.code
+      : undefined;
+
+  return {
+    code: rpcCode ?? code,
+    message: `Failed to ${action}: ${message}`,
+  };
+}
+
+export async function resolveTerminalId(
+  client: Awaited<ReturnType<typeof connectToDaemon>>,
+  idOrName: string,
+): Promise<string | null> {
+  const payload = await client.listTerminals();
+  return resolveTerminalIdentifier(idOrName, payload.terminals);
+}
+
+function resolveTerminalIdentifier(idOrName: string, terminals: TerminalLike[]): string | null {
+  if (!idOrName || terminals.length === 0) {
+    return null;
+  }
+
+  const query = idOrName.toLowerCase();
+
+  const exactMatch = terminals.find((terminal) => terminal.id === idOrName);
+  if (exactMatch) {
+    return exactMatch.id;
+  }
+
+  const prefixMatches = terminals.filter((terminal) => terminal.id.toLowerCase().startsWith(query));
+  if (prefixMatches.length === 1 && prefixMatches[0]) {
+    return prefixMatches[0].id;
+  }
+  if (prefixMatches.length > 1) {
+    return null;
+  }
+
+  const nameMatches = terminals.filter((terminal) => terminal.name?.toLowerCase() === query);
+  if (nameMatches.length === 1 && nameMatches[0]) {
+    return nameMatches[0].id;
+  }
+
+  const partialNameMatches = terminals.filter((terminal) =>
+    terminal.name?.toLowerCase().includes(query),
+  );
+  if (partialNameMatches.length === 1 && partialNameMatches[0]) {
+    return partialNameMatches[0].id;
+  }
+
+  return null;
+}
diff --git a/packages/server/src/client/daemon-client.ts b/packages/server/src/client/daemon-client.ts
index 450fa05da..13d35ab3e 100644
--- a/packages/server/src/client/daemon-client.ts
+++ b/packages/server/src/client/daemon-client.ts
@@ -44,6 +44,7 @@ import type {
   SubscribeTerminalResponse,
   TerminalState,
   KillTerminalResponse,
+  CaptureTerminalResponse,
   TerminalInput,
   SessionInboundMessage,
   SessionOutboundMessage,
@@ -237,6 +238,7 @@ type ListTerminalsPayload = ListTerminalsResponse["payload"];
 type CreateTerminalPayload = CreateTerminalResponse["payload"];
 type SubscribeTerminalPayload = SubscribeTerminalResponse["payload"];
 type KillTerminalPayload = KillTerminalResponse["payload"];
+type CaptureTerminalPayload = CaptureTerminalResponse["payload"];
 type ChatCreatePayload = Extract<
   SessionOutboundMessage,
   { type: "chat/create/response" }
@@ -2709,11 +2711,11 @@ export class DaemonClient {
     });
   }
 
-  async listTerminals(cwd: string, requestId?: string): Promise<ListTerminalsPayload> {
+  async listTerminals(cwd?: string, requestId?: string): Promise<ListTerminalsPayload> {
     const resolvedRequestId = this.createRequestId(requestId);
     const message = SessionInboundMessageSchema.parse({
       type: "list_terminals_request",
-      cwd,
+      ...(cwd === undefined ? {} : { cwd }),
       requestId: resolvedRequestId,
     });
     return this.sendCorrelatedRequest({
@@ -2827,6 +2829,29 @@ export class DaemonClient {
     });
   }
 
+  async captureTerminal(
+    terminalId: string,
+    options?: { start?: number; end?: number; stripAnsi?: boolean },
+    requestId?: string,
+  ): Promise<CaptureTerminalPayload> {
+    const resolvedRequestId = this.createRequestId(requestId);
+    const message = SessionInboundMessageSchema.parse({
+      type: "capture_terminal_request",
+      terminalId,
+      ...(options?.start === undefined ? {} : { start: options.start }),
+      ...(options?.end === undefined ? {} : { end: options.end }),
+      ...(options?.stripAnsi === undefined ? {} : { stripAnsi: options.stripAnsi }),
+      requestId: resolvedRequestId,
+    });
+    return this.sendCorrelatedRequest({
+      requestId: resolvedRequestId,
+      message,
+      responseType: "capture_terminal_response",
+      timeout: 10000,
+      options: { skipQueue: true },
+    });
+  }
+
   async createChatRoom(options: CreateChatRoomOptions): Promise<ChatCreatePayload> {
     return this.sendCorrelatedSessionRequest({
       requestId: options.requestId,
diff --git a/packages/server/src/server/daemon-e2e/terminal.e2e.test.ts b/packages/server/src/server/daemon-e2e/terminal.e2e.test.ts
index 24873b13b..0f66a29c8 100644
--- a/packages/server/src/server/daemon-e2e/terminal.e2e.test.ts
+++ b/packages/server/src/server/daemon-e2e/terminal.e2e.test.ts
@@ -415,12 +415,17 @@ async function subscribeRawTerminal(
 
 describe("daemon E2E terminal", () => {
   let ctx: DaemonTestContext;
+  let tempDirs: string[];
 
   beforeEach(async () => {
     ctx = await createDaemonTestContext();
+    tempDirs = [];
   });
 
   afterEach(async () => {
+    for (const dir of tempDirs) {
+      rmSync(dir, { recursive: true, force: true });
+    }
     await ctx.cleanup();
   }, 60000);
 
@@ -1055,4 +1060,161 @@ describe("daemon E2E terminal", () => {
       rmSync(cwd, { recursive: true, force: true });
     }
   }, 40000);
+
+  describe("capture", () => {
+    test("captures visible terminal output as plain text", async () => {
+      const cwd = tmpCwd();
+      tempDirs.push(cwd);
+      const created = await ctx.client.createTerminal(cwd);
+      const terminalId = created.terminal!.id;
+
+      await ctx.client.subscribeTerminal(terminalId);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo hello world\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("hello world"), 15000);
+
+      const capture = await ctx.client.captureTerminal(terminalId);
+
+      expect(capture.lines.join("\n")).toContain("hello world");
+      expect(capture.totalLines).toBeGreaterThan(0);
+    }, 15000);
+
+    test("captures with start/end line range", async () => {
+      const cwd = tmpCwd();
+      tempDirs.push(cwd);
+      const created = await ctx.client.createTerminal(cwd);
+      const terminalId = created.terminal!.id;
+
+      await ctx.client.subscribeTerminal(terminalId);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo line1\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("line1"), 15000);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo line2\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("line2"), 15000);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo line3\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("line3"), 15000);
+
+      const fullCapture = await ctx.client.captureTerminal(terminalId);
+      const rangedCapture = await ctx.client.captureTerminal(terminalId, {
+        start: 0,
+        end: 2,
+      });
+
+      expect(rangedCapture.lines).toHaveLength(3);
+      expect(rangedCapture.totalLines).toBe(fullCapture.totalLines);
+    }, 15000);
+
+    test("supports negative line indices", async () => {
+      const cwd = tmpCwd();
+      tempDirs.push(cwd);
+      const created = await ctx.client.createTerminal(cwd);
+      const terminalId = created.terminal!.id;
+
+      await ctx.client.subscribeTerminal(terminalId);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo alpha\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("alpha"), 15000);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo beta\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("beta"), 15000);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "echo gamma\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("gamma"), 15000);
+
+      const capture = await ctx.client.captureTerminal(terminalId, {
+        start: -3,
+      });
+
+      expect(capture.lines).toHaveLength(3);
+    }, 15000);
+
+    test("strips ANSI by default", async () => {
+      const cwd = tmpCwd();
+      tempDirs.push(cwd);
+      const created = await ctx.client.createTerminal(cwd);
+      const terminalId = created.terminal!.id;
+
+      await ctx.client.subscribeTerminal(terminalId);
+      ctx.client.sendTerminalInput(terminalId, {
+        type: "input",
+        data: "printf '\\033[31mred text\\033[0m\\n'\r",
+      });
+      await waitForTerminalOutput(ctx.client, terminalId, (text) => text.includes("red text"), 15000);
+
+      const capture = await ctx.client.captureTerminal(terminalId);
+      const capturedText = capture.lines.join("\n");
+
+      expect(capturedText).toContain("red text");
+      expect(capturedText).not.toContain("\u001b[31m");
+    }, 15000);
+
+    test("returns empty for non-existent terminal", async () => {
+      const capture = await ctx.client.captureTerminal("terminal-does-not-exist");
+
+      expect(capture.lines).toEqual([]);
+      expect(capture.totalLines).toBe(0);
+    });
+  });
+
+  describe("list terminals across directories", () => {
+    test("lists terminals from all directories when cwd is omitted", async () => {
+      const cwd1 = tmpCwd();
+      const cwd2 = tmpCwd();
+      tempDirs.push(cwd1, cwd2);
+
+      const firstCreated = await ctx.client.createTerminal(cwd1, "first-terminal");
+      const secondCreated = await ctx.client.createTerminal(cwd2, "second-terminal");
+
+      const list = await ctx.client.listTerminals();
+
+      expect(list).not.toHaveProperty("cwd");
+      expect(list.terminals).toEqual(
+        expect.arrayContaining([
+          {
+            id: firstCreated.terminal!.id,
+            name: "first-terminal",
+          },
+          {
+            id: secondCreated.terminal!.id,
+            name: "second-terminal",
+          },
+        ]),
+      );
+    });
+
+    test("lists terminals for specific directory when cwd is provided", async () => {
+      const cwd1 = tmpCwd();
+      const cwd2 = tmpCwd();
+      tempDirs.push(cwd1, cwd2);
+
+      const firstCreated = await ctx.client.createTerminal(cwd1, "cwd-one-terminal");
+      await ctx.client.createTerminal(cwd2, "cwd-two-terminal");
+
+      const list = await ctx.client.listTerminals(cwd1);
+
+      expect(list.cwd).toBe(cwd1);
+      expect(list.terminals).toEqual([
+        {
+          id: firstCreated.terminal!.id,
+          name: "cwd-one-terminal",
+        },
+      ]);
+    });
+  });
 });
diff --git a/packages/server/src/server/session.ts b/packages/server/src/server/session.ts
index 8b5ecbbd8..45bb25437 100644
--- a/packages/server/src/server/session.ts
+++ b/packages/server/src/server/session.ts
@@ -23,6 +23,7 @@ import {
   type UnsubscribeTerminalRequest,
   type TerminalInput,
   type KillTerminalRequest,
+  type CaptureTerminalRequest,
   type SubscribeCheckoutDiffRequest,
   type UnsubscribeCheckoutDiffRequest,
   type DirectorySuggestionsRequest,
@@ -31,7 +32,7 @@ import {
   type WorkspaceStateBucket,
 } from "./messages.js";
 import type { TerminalManager, TerminalsChangedEvent } from "../terminal/terminal-manager.js";
-import type { TerminalSession } from "../terminal/terminal.js";
+import { captureTerminalLines, type TerminalSession } from "../terminal/terminal.js";
 import {
   TerminalStreamOpcode,
   encodeTerminalSnapshotPayload,
@@ -1697,6 +1698,10 @@ export class Session {
           await this.handleKillTerminalRequest(msg);
           break;
 
+        case "capture_terminal_request":
+          await this.handleCaptureTerminalRequest(msg);
+          break;
+
         case "chat/create":
           await this.handleChatCreateRequest(msg);
           break;
@@ -7283,7 +7288,7 @@ export class Session {
       this.emit({
         type: "list_terminals_response",
         payload: {
-          cwd: msg.cwd,
+          ...(msg.cwd ? { cwd: msg.cwd } : {}),
           terminals: [],
           requestId: msg.requestId,
         },
@@ -7292,14 +7297,17 @@ export class Session {
     }
 
     try {
-      const terminals = await this.terminalManager.getTerminals(msg.cwd);
+      const terminals =
+        typeof msg.cwd === "string"
+          ? await this.terminalManager.getTerminals(msg.cwd)
+          : await this.getAllTerminalSessions();
       for (const terminal of terminals) {
         this.ensureTerminalExitSubscription(terminal);
       }
       this.emit({
         type: "list_terminals_response",
         payload: {
-          cwd: msg.cwd,
+          ...(msg.cwd ? { cwd: msg.cwd } : {}),
           terminals: terminals.map((t) => ({ id: t.id, name: t.name })),
           requestId: msg.requestId,
         },
@@ -7309,7 +7317,7 @@ export class Session {
       this.emit({
         type: "list_terminals_response",
         payload: {
-          cwd: msg.cwd,
+          ...(msg.cwd ? { cwd: msg.cwd } : {}),
           terminals: [],
           requestId: msg.requestId,
         },
@@ -7317,6 +7325,18 @@ export class Session {
     }
   }
 
+  private async getAllTerminalSessions(): Promise<TerminalSession[]> {
+    if (!this.terminalManager) {
+      return [];
+    }
+
+    const directories = this.terminalManager.listDirectories();
+    const terminalsByDirectory = await Promise.all(
+      directories.map((cwd) => this.terminalManager!.getTerminals(cwd)),
+    );
+    return terminalsByDirectory.flat();
+  }
+
   private async handleCreateTerminalRequest(msg: CreateTerminalRequest): Promise<void> {
     if (!this.terminalManager) {
       this.emit({
@@ -7488,6 +7508,68 @@ export class Session {
     });
   }
 
+  private async handleCaptureTerminalRequest(msg: CaptureTerminalRequest): Promise<void> {
+    if (!this.terminalManager) {
+      this.emit({
+        type: "capture_terminal_response",
+        payload: {
+          terminalId: msg.terminalId,
+          lines: [],
+          totalLines: 0,
+          requestId: msg.requestId,
+        },
+      });
+      return;
+    }
+
+    const session = this.terminalManager.getTerminal(msg.terminalId);
+    if (!session) {
+      this.emit({
+        type: "capture_terminal_response",
+        payload: {
+          terminalId: msg.terminalId,
+          lines: [],
+          totalLines: 0,
+          requestId: msg.requestId,
+        },
+      });
+      return;
+    }
+
+    this.ensureTerminalExitSubscription(session);
+
+    try {
+      const capture = captureTerminalLines(session, {
+        start: msg.start,
+        end: msg.end,
+        stripAnsi: msg.stripAnsi,
+      });
+      this.emit({
+        type: "capture_terminal_response",
+        payload: {
+          terminalId: msg.terminalId,
+          lines: capture.lines,
+          totalLines: capture.totalLines,
+          requestId: msg.requestId,
+        },
+      });
+    } catch (error: any) {
+      this.sessionLogger.error(
+        { err: error, terminalId: msg.terminalId },
+        "Failed to capture terminal",
+      );
+      this.emit({
+        type: "capture_terminal_response",
+        payload: {
+          terminalId: msg.terminalId,
+          lines: [],
+          totalLines: 0,
+          requestId: msg.requestId,
+        },
+      });
+    }
+  }
+
   private bindActiveTerminalStream(terminal: TerminalSession): number | null {
     if (!this.onBinaryMessage) {
       return null;
diff --git a/packages/server/src/shared/messages.ts b/packages/server/src/shared/messages.ts
index 9885aaf27..84f771030 100644
--- a/packages/server/src/shared/messages.ts
+++ b/packages/server/src/shared/messages.ts
@@ -1116,7 +1116,7 @@ export const RegisterPushTokenMessageSchema = z.object({
 
 export const ListTerminalsRequestSchema = z.object({
   type: z.literal("list_terminals_request"),
-  cwd: z.string(),
+  cwd: z.string().optional(),
   requestId: z.string(),
 });
 
@@ -1172,6 +1172,15 @@ export const KillTerminalRequestSchema = z.object({
   requestId: z.string(),
 });
 
+export const CaptureTerminalRequestSchema = z.object({
+  type: z.literal("capture_terminal_request"),
+  terminalId: z.string(),
+  start: z.number().int().optional(),
+  end: z.number().int().optional(),
+  stripAnsi: z.boolean().default(true),
+  requestId: z.string(),
+});
+
 export const SessionInboundMessageSchema = z.discriminatedUnion("type", [
   VoiceAudioChunkMessageSchema,
   AbortRequestMessageSchema,
@@ -1235,6 +1244,7 @@ export const SessionInboundMessageSchema = z.discriminatedUnion("type", [
   UnsubscribeTerminalRequestSchema,
   TerminalInputSchema,
   KillTerminalRequestSchema,
+  CaptureTerminalRequestSchema,
   ChatCreateRequestSchema,
   ChatListRequestSchema,
   ChatInspectRequestSchema,
@@ -2158,7 +2168,7 @@ export const TerminalStateSchema = z
 export const ListTerminalsResponseSchema = z.object({
   type: z.literal("list_terminals_response"),
   payload: z.object({
-    cwd: z.string(),
+    cwd: z.string().optional(),
     terminals: z.array(TerminalInfoSchema.omit({ cwd: true })),
     requestId: z.string(),
   }),
@@ -2207,6 +2217,16 @@ export const KillTerminalResponseSchema = z.object({
   }),
 });
 
+export const CaptureTerminalResponseSchema = z.object({
+  type: z.literal("capture_terminal_response"),
+  payload: z.object({
+    terminalId: z.string(),
+    lines: z.array(z.string()),
+    totalLines: z.number().int().nonnegative(),
+    requestId: z.string(),
+  }),
+});
+
 export const TerminalStreamExitSchema = z.object({
   type: z.literal("terminal_stream_exit"),
   payload: z.object({
@@ -2276,6 +2296,7 @@ export const SessionOutboundMessageSchema = z.discriminatedUnion("type", [
   CreateTerminalResponseSchema,
   SubscribeTerminalResponseSchema,
   KillTerminalResponseSchema,
+  CaptureTerminalResponseSchema,
   TerminalStreamExitSchema,
   ChatCreateResponseSchema,
   ChatListResponseSchema,
@@ -2468,6 +2489,8 @@ export type TerminalCursor = z.infer<typeof TerminalCursorSchema>;
 export type TerminalState = z.infer<typeof TerminalStateSchema>;
 export type KillTerminalRequest = z.infer<typeof KillTerminalRequestSchema>;
 export type KillTerminalResponse = z.infer<typeof KillTerminalResponseSchema>;
+export type CaptureTerminalRequest = z.infer<typeof CaptureTerminalRequestSchema>;
+export type CaptureTerminalResponse = z.infer<typeof CaptureTerminalResponseSchema>;
 export type TerminalStreamExit = z.infer<typeof TerminalStreamExitSchema>;
 
 // ============================================================================
diff --git a/packages/server/src/terminal/terminal.ts b/packages/server/src/terminal/terminal.ts
index 28e2601c7..b6b80b302 100644
--- a/packages/server/src/terminal/terminal.ts
+++ b/packages/server/src/terminal/terminal.ts
@@ -4,6 +4,7 @@ import { randomUUID } from "crypto";
 import { chmodSync, existsSync, statSync } from "node:fs";
 import { dirname, join } from "node:path";
 import { createRequire } from "node:module";
+import stripAnsi from "strip-ansi";
 import type { TerminalCell, TerminalState } from "../shared/messages.js";
 
 const { Terminal } = xterm;
@@ -40,6 +41,17 @@ export interface CreateTerminalOptions {
   name?: string;
 }
 
+export interface CaptureTerminalLinesOptions {
+  start?: number;
+  end?: number;
+  stripAnsi?: boolean;
+}
+
+export interface CaptureTerminalLinesResult {
+  lines: string[];
+  totalLines: number;
+}
+
 type EnsureNodePtySpawnHelperExecutableOptions = {
   packageRoot?: string;
   platform?: NodeJS.Platform;
@@ -230,6 +242,60 @@ function extractCursorState(terminal: TerminalType): TerminalState["cursor"] {
   };
 }
 
+function cellsToPlainText(cells: TerminalCell[], options: { stripAnsi: boolean }): string {
+  const text = cells.map((cell) => cell.char).join("").trimEnd();
+  return options.stripAnsi ? stripAnsi(text) : text;
+}
+
+function resolveCaptureLineIndex(
+  lineNumber: number | undefined,
+  totalLines: number,
+  fallback: "start" | "end",
+): number {
+  if (totalLines === 0) {
+    return fallback === "start" ? 0 : -1;
+  }
+
+  const defaultIndex = fallback === "start" ? 0 : totalLines - 1;
+  if (typeof lineNumber !== "number") {
+    return defaultIndex;
+  }
+
+  const resolvedIndex = lineNumber < 0 ? totalLines + lineNumber : lineNumber;
+  if (resolvedIndex < 0) {
+    return 0;
+  }
+  if (resolvedIndex >= totalLines) {
+    return totalLines - 1;
+  }
+  return resolvedIndex;
+}
+
+export function captureTerminalLines(
+  terminal: TerminalSession,
+  options: CaptureTerminalLinesOptions = {},
+): CaptureTerminalLinesResult {
+  const state = terminal.getState();
+  const allLines = [...state.scrollback, ...state.grid].map((cells) =>
+    cellsToPlainText(cells, { stripAnsi: options.stripAnsi ?? true }),
+  );
+  const totalLines = allLines.length;
+  const startIndex = resolveCaptureLineIndex(options.start, totalLines, "start");
+  const endIndex = resolveCaptureLineIndex(options.end, totalLines, "end");
+
+  if (totalLines === 0 || startIndex > endIndex) {
+    return {
+      lines: [],
+      totalLines,
+    };
+  }
+
+  return {
+    lines: allLines.slice(startIndex, endIndex + 1),
+    totalLines,
+  };
+}
+
 export async function createTerminal(options: CreateTerminalOptions): Promise<TerminalSession> {
   const {
     cwd,
diff --git a/skills/paseo/SKILL.md b/skills/paseo/SKILL.md
index 711857266..1ac7355f2 100644
--- a/skills/paseo/SKILL.md
+++ b/skills/paseo/SKILL.md
@@ -154,6 +154,59 @@ paseo chat wait <room> --timeout <duration>
 paseo chat delete <name-or-id>
 ```
 
+## Terminal Commands
+
+Manage workspace terminals: create, inspect, send keystrokes, capture output.
+
+```bash
+# List terminals (scoped to current directory by default)
+paseo terminal ls                    # Terminals in current directory
+paseo terminal ls --all              # All terminals across all workspaces
+paseo terminal ls --cwd ~/dev/myapp  # Terminals in a specific directory
+
+# Create a terminal
+paseo terminal create                          # In current directory
+paseo terminal create --cwd ~/dev/myapp        # In a specific directory
+paseo terminal create --name "build-runner"    # With a custom name
+
+# Kill a terminal (supports short ID prefixes and name matching)
+paseo terminal kill <terminal-id>
+paseo terminal kill abc123           # Short prefix
+paseo terminal kill build-runner     # By name
+
+# Capture terminal output as plain text (like tmux capture-pane -p)
+paseo terminal capture <terminal-id>               # Visible pane only, ANSI stripped
+paseo terminal capture <terminal-id> --scrollback   # Full scrollback + visible
+paseo terminal capture <terminal-id> -S             # Short form of --scrollback
+paseo terminal capture <terminal-id> --start 0 --end 10   # Line range (tmux-style)
+paseo terminal capture <terminal-id> --start -5     # Last 5 lines
+paseo terminal capture <terminal-id> --ansi         # Preserve ANSI escape codes
+paseo terminal capture <terminal-id> --json         # JSON output with metadata
+
+# Send keystrokes (like tmux send-keys)
+paseo terminal send-keys <terminal-id> "ls -la" Enter
+paseo terminal send-keys <terminal-id> "echo hello" Enter
+paseo terminal send-keys <terminal-id> C-c          # Ctrl+C
+paseo terminal send-keys <terminal-id> C-d          # Ctrl+D
+paseo terminal send-keys <terminal-id> --literal "raw text"  # No special token interpretation
+```
+
+**Special key tokens** (interpreted by default, use `--literal` to send raw):
+`Enter`, `Tab`, `Escape`, `Space`, `BSpace`, `C-c`, `C-d`, `C-z`, `C-l`, `C-a`, `C-e`
+
+**Common pattern — launch a process and interact with it:**
+```bash
+id=$(paseo terminal create --name "my-shell" -q)
+paseo terminal send-keys "$id" "claude" Enter
+sleep 5
+paseo terminal capture "$id" --scrollback   # See what happened
+paseo terminal send-keys "$id" "Hello!" Enter
+sleep 10
+paseo terminal capture "$id" --scrollback   # See the response
+paseo terminal send-keys "$id" "/exit" Enter
+paseo terminal kill "$id"
+```
+
 ## Available Models
 
 **Claude (default provider)** — use aliases, CLI resolves to latest version: