We describe a simple method for estimating turbulent boundary layer wall friction using the fit of measured velocity data to a boundary layer model profile that extends the logarithmic profile all the way to the wall. Two models for the boundary layer profile are examined, the power-series interpolation scheme of Spalding and the Musker profile which is based on the eddy viscosity concept. The performance of the method is quantified using recent experimental data in zero pressure gradient flat-plate turbulent boundary layers, and favorable pressure gradient turbulent boundary layers in a pipe, for which independent measurements of wall shear are also available. Between the two model profiles tested, the Musker profile performs much better than the Spalding profile. Results show that the new procedure can provide highly accurate estimates of wall shear with a mean error of about 0.5% in friction velocity, or 1% in shear stress, an accuracy that is comparable to that from independent direct measurements of wall shear stress. An important advantage of the method is its ability to provide accurate estimates of wall shear not only based on many data points in a velocity profile but also very sparse data points in the velocity profile, including only a single data point such as that originating from a near-wall probe.