<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0202</schemaVersion>

    <documentType>4</documentType>

    <periodOfReport>2004-07-26</periodOfReport>

    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0001002902</issuerCik>
        <issuerName>VELOCITY EXPRESS CORP</issuerName>
        <issuerTradingSymbol>VEXP</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001063711</rptOwnerCik>
            <rptOwnerName>BET ASSOCIATES LP</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>3103 PHILMONT AVENUE</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>HUNTINGDON VALLEY</rptOwnerCity>
            <rptOwnerState>PA</rptOwnerState>
            <rptOwnerZipCode>19006</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
            <officerTitle></officerTitle>
            <otherText></otherText>
        </reportingOwnerRelationship>
    </reportingOwner>

    <derivativeTable>
        <derivativeTransaction>
            <securityTitle>
                <value>Series I Convertible Preferred Stock</value>
            </securityTitle>
            <conversionOrExercisePrice>
                <value>0.1228</value>
            </conversionOrExercisePrice>
            <transactionDate>
                <value>2004-07-26</value>
            </transactionDate>
            <deemedExecutionDate></deemedExecutionDate>
            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>J</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
            </transactionCoding>
            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>416666</value>
                </transactionShares>
                <transactionPricePerShare>
                    <value>1.50</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>A</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <exerciseDate>
                <value>1988-08-08</value>
                <footnoteId id="F1"/>
            </exerciseDate>
            <expirationDate>
                <value>1988-08-08</value>
                <footnoteId id="F2"/>
            </expirationDate>
            <underlyingSecurity>
                <underlyingSecurityTitle>
                    <value>Common Stock</value>
                </underlyingSecurityTitle>
                <underlyingSecurityShares>
                    <value>5089572</value>
                </underlyingSecurityShares>
            </underlyingSecurity>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>5089572</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value></value>
                </natureOfOwnership>
            </ownershipNature>
        </derivativeTransaction>
    </derivativeTable>

    <footnotes>
        <footnote id="F1">Conversion of Series I Convertible Preferred Stock into Common Stock requires stockholder approval.</footnote>
        <footnote id="F2">None</footnote>
    </footnotes>

    <remarks>On July 26, 2004, the Issuer sold rights to receive 4,911,867 shares of Series J Convertible Preferred Stock and, pursuant to the antidilution provisions of the Series I Convertible Preferred Stock, such sale had the effect of increasing the number of shares of common stock into which the shares of Series I Convertible Preferred Stock owned by the Reporting Person was convertible from an aggregate of 4,572,051 shares, as reported by the Reporting Person on a Form 4 filed with the Securities and Exchange Commission on 04/27/2004, to an aggregate 5,089,572 shares.  This Form 4 is filed to report the Reporting Person?s acquisition of beneficial ownership of such 517,521 shares of common stock of the Issuer.</remarks>

    <ownerSignature>
        <signatureName>Bruce E. Toll, as sole member of BRU Holdings Co., LLC / General Partner of BET Associates, L.P.</signatureName>
        <signatureDate>2004-07-26</signatureDate>
    </ownerSignature>
</ownershipDocument>

