diff --git a/homeassistant/components/gpsd/sensor.py b/homeassistant/components/gpsd/sensor.py
index 3e356f1509c..64b86434c3c 100644
--- a/homeassistant/components/gpsd/sensor.py
+++ b/homeassistant/components/gpsd/sensor.py
@@ -121,3 +121,12 @@ class GpsdSensor(SensorEntity):
             ATTR_CLIMB: self.agps_thread.data_stream.climb,
             ATTR_MODE: self.agps_thread.data_stream.mode,
         }
+
+    @property
+    def icon(self) -> str:
+        """Return the icon of the sensor."""
+        mode = self.agps_thread.data_stream.mode
+
+        if isinstance(mode, int) and mode >= 2:
+            return "mdi:crosshairs-gps"
+        return "mdi:crosshairs"