Objective: To identify the impact of volunteering in a street medicine programme on perceptions of and attitudes towards individuals experiencing homelessness. Design: Prospective pre- and post-analysis using involvement in a street medicine programme as the intervention. Attitudes towards and perceptions of individuals experiencing homelessness were measured using the Health Professional Attitude Towards the Homeless Inventory (HPATHI). Setting: Participants provided outreach to individuals experiencing homelessness across metro Phoenix in parks and in homeless encampments along the streets. Method: Students and preceptors from numerous professions, including medicine, nursing, social work, physical therapy, occupational therapy, public health and undergraduate students, who volunteered for the street medicine programme were organised into small outreach teams. All volunteers were emailed the HPATHI to complete before and after semester-long, monthly outreach events. Results: Volunteering in our street medicine programme demonstrated statistically significant improvements in perceptions of and attitudes towards individuals experiencing homelessness for all volunteers, regardless of profession. Conclusion: Our findings suggest that integrating street medicine programmes into curricula for health and social care programmes can reduce the stigma towards individuals experiencing homelessness, inspire increased commitment to practising in underserved communities and meet the unmet health and social needs of the homeless population.