Certain aspects of the present disclosure provide techniques for precoding for multi-panel uplink transmission. For codebook-based uplink transmission, a user equipment (UE) can determine one or more preferred or selected precoders for uplink transmission. The precoders can be from an expanded UE codebook that maps a first number of transmit layers at the UE to a second number of antenna ports at the UE, the layers and/or antenna ports associated with multiple uplink transmit panels at the UE. The UE sends an indication to a base station (BS) of the determined precoders and/or sends an uplink transmission using the determined precoders. For non-codebook based uplink transmission the UE receives first and second reference signals (RSs), from first and second ports of a BS, with first and second UE antenna panels. The UE computes precoders to use for uplink transmission based on the RSs.