We study systematically the cavitation-induced wall shear stress on rigid boundaries as a function of liquid viscosity $\mu$ and stand-off distance $\gamma$ using axisymmetric volume of fluid (VoF) simulations. Here, $\gamma =d/R_{max}$ is defined with the initial distance of bubble centre from the wall $d$ and the bubble equivalent radius at its maximum expansion $R_{max}$ . The simulations predict accurately the overall bubble dynamics and the time-dependent liquid film thickness between the bubble and the wall prior to the collapse. The spatial and temporal wall shear stress is discussed in detail as a function of $\gamma$ and the inverse Reynolds number $1/Re$ . The amplitude of the wall shear stress is investigated over a large parameter space of viscosity and stand-off distance. The inward stress is caused by the shrinking bubble and its maximum value $\tau _{mn}$ follows $\tau _{mn} Re^{0.35}=-70\gamma +110$ (kPa) for $0.5<\gamma <1.4$ . The expanding bubble and jet spreading on the boundary produce an outward-directed stress. The maximum outward stress is generated shortly after impact of the jet during the early spreading. We find two scaling laws for the maximum outward stress $\tau _{mp}$ with $\tau _{mp} \sim \mu ^{0.2} h_{jet}^{-0.3} U_{jet}^{1.5}$ for $0.5\leq \gamma \leq 1.1$ and $\tau _{mp} \sim \mu ^{-0.25} h_{jet}^{-1.5} U_{jet}^{1.5}$ for $\gamma \geq 1.1$ , where $U_{jet}$ is the jet impact velocity and $h_{jet}$ is the distance between lower bubble interface and wall prior to impact.