In order to reduce the fuel consumption and exhaust emissions of modern Diesel engines, the high-pressure fuel injections have to be optimized. This requires continuous, time-resolved measurements of the fuel velocity distribution during multiple complete injection cycles, which can provide a deeper understanding of the injection process. However, fuel velocity measurements at high-pressure injection nozzles are a challenging task due to the high velocities of up to 300 m/s, the short injection durations in the $$\upmu\text{s}$$ μ s range and the high fuel droplet density especially near the nozzle exit. In order to solve these challenges, a fast imaging Doppler global velocimeter with laser frequency modulation (2D-FM-DGV) incorporating a high-speed camera is presented. As a result, continuous planar velocity field measurements are performed with a measurement rate of 200 kHz in the near-nozzle region of a high-pressure Diesel injection. The injection system is operated under atmospheric surrounding conditions with injection pressures up to 1400 bar thereby reaching fuel velocities up to 380 m/s. The measurements over multiple entire injection cycles resolved the spatio-temporal fluctuations of the fuel velocity, which occur especially for low injection pressures. Furthermore, a sudden setback of the velocity at the beginning of the injection is identified for various injection pressures. In conclusion, the fast measurement system enables the investigation of the complete temporal behavior of single injection cycles or a series of it. Since this eliminates the necessity of phase-locked measurements, the proposed measurement approach provides new insights for the analysis of high-pressure injections regarding unsteady phenomena.