Summary: We report on the possibility of detecting a submillimetre-sized extra dimension by observing gravitational waves (GWs) emitted by point-like objects orbiting a braneworld black hole. Matter in the ‘visible’ universe can generate a discrete spectrum of high frequency GWs with amplitudes moderately weaker than the predictions of general relativity, while GW signals generated by matter on a ‘shadow’ brane hidden in the bulk are potentially strong enough to be detected using current technology. We know of no other astrophysical phenomena that produce GWs with a similar spectrum, which stresses the need to develop detectors capable of measuring this high-frequency signature of large extra dimensions.