Skeletal muscle velocity is a key indicator of neuromuscular function, and monitoring its changes plays important role in tracking the progression of musculoskeletal diseases, injuries, and fatigue. However, existing methods for non-invasive estimation of skeletal muscle velocity primarily use B- mode ultrasound, often with processing methods that are time-consuming or computationally expensive, with varying accuracy based on tissue structure. Here, we propose a spectral Doppler envelope estimation method designed for skeletal muscle measurements. When compared to the modified signal noise slope intersection (MSNSI) method, our method reduces the overall mean absolute error by 13.9% and the mean absolute zero error by 82.1%. We validated our method using a portable ultrasound system on a benchtop setup that mimics the acoustic properties, measurement angles, and velocity patterns of skeletal muscles. Ex vivo and in vivo muscle velocity estimates of parallel and pennate muscles will be compared to those obtained using the MSNSI method and manual tracking of B-Mode images. Our proposed method could enable automated estimation of skeletal muscle velocities during dynamic activities in unconstrained environments, providing new insight into neuromuscular function and movement biomechanics, with potential applications in monitoring fatigue, disease progression, or injury recovery. [Work supported by the National Science Foundation.]