<?xml version="1.0"?>
<ownershipDocument>
    <schemaVersion>X0201</schemaVersion>

    <documentType>3</documentType><periodOfReport>2003-10-31</periodOfReport>
    <noSecuritiesOwned>0</noSecuritiesOwned>

    <issuer>
        <issuerCik>0001002902</issuerCik>
        <issuerName>VELOCITY EXPRESS CORP</issuerName>
        <issuerTradingSymbol>VEXP</issuerTradingSymbol></issuer><reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001167597</rptOwnerCik>
            <rptOwnerName>BOSZHARDT ANDREW</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>660 MADISON AVENUE, 14TH FLOOR</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>NEW YORK</rptOwnerCity>
            <rptOwnerState>NY</rptOwnerState>
            <rptOwnerZipCode>10021</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
            <reportingOwnerRelationship>
<isDirector>0</isDirector><isOfficer>0</isOfficer><isTenPercentOwner>1</isTenPercentOwner><isOther>0</isOther></reportingOwnerRelationship></reportingOwner><derivativeTable><derivativeHolding><securityTitle><value>Series F Convertible Preferred Stock</value></securityTitle><conversionOrExercisePrice><value>2.75</value></conversionOrExercisePrice><exerciseDate><footnoteId id="F1"/></exerciseDate><expirationDate><footnoteId id="F2"/></expirationDate><underlyingSecurity><underlyingSecurityTitle><value>Common Stock</value></underlyingSecurityTitle><underlyingSecurityShares><value>626858</value></underlyingSecurityShares></underlyingSecurity><ownershipNature><directOrIndirectOwnership><value>D</value></directOrIndirectOwnership><natureOfOwnership><value/></natureOfOwnership></ownershipNature></derivativeHolding><derivativeHolding><securityTitle><value>Series G Convertible Preferred Stock</value></securityTitle><conversionOrExercisePrice><value>3.75</value></conversionOrExercisePrice><exerciseDate><value>2003-09-18</value></exerciseDate><expirationDate><footnoteId id="F2"/></expirationDate><underlyingSecurity><underlyingSecurityTitle><value>Common Stock</value></underlyingSecurityTitle><underlyingSecurityShares><value>171900</value></underlyingSecurityShares></underlyingSecurity><ownershipNature><directOrIndirectOwnership><value>D</value></directOrIndirectOwnership><natureOfOwnership><value/></natureOfOwnership></ownershipNature></derivativeHolding><derivativeHolding><securityTitle><value>Series I Convertible Preferred Stock</value></securityTitle><conversionOrExercisePrice><value>.15</value></conversionOrExercisePrice><exerciseDate><footnoteId id="F3"/></exerciseDate><expirationDate><footnoteId id="F2"/></expirationDate><underlyingSecurity><underlyingSecurityTitle><value>Common Stock</value></underlyingSecurityTitle><underlyingSecurityShares><value>9000000</value></underlyingSecurityShares></underlyingSecurity><ownershipNature><directOrIndirectOwnership><value>D</value></directOrIndirectOwnership><natureOfOwnership><value/></natureOfOwnership></ownershipNature></derivativeHolding><derivativeHolding><securityTitle><value>Common Stock Warrants</value></securityTitle><conversionOrExercisePrice><value>3.60</value></conversionOrExercisePrice><exerciseDate><footnoteId id="F1"/></exerciseDate><expirationDate><value>2007-11-04</value></expirationDate><underlyingSecurity><underlyingSecurityTitle><value>Common Stock</value></underlyingSecurityTitle><underlyingSecurityShares><value>15626</value></underlyingSecurityShares></underlyingSecurity><ownershipNature><directOrIndirectOwnership><value>D</value></directOrIndirectOwnership><natureOfOwnership><value/></natureOfOwnership></ownershipNature></derivativeHolding></derivativeTable><footnotes><footnote id="F1">Exercisable Immediately.</footnote><footnote id="F2">None.</footnote><footnote id="F3">Conversion of the Series I Convertible Preferred Stock into Common Stock requires shareholder approval.</footnote></footnotes><remarks/><ownerSignature><signatureName>Andrew Boszhardt</signatureName><signatureDate>2003-11-10</signatureDate></ownerSignature></ownershipDocument>

