An exemplary intraneural stimulation system may include an auditory prosthesis configured to be implanted within a patient, an intracochlear electrode array communicatively coupled to the auditory prosthesis and configured to be inserted into a cochlea of the patient, and an intraneural electrode array communicatively coupled to the auditory prosthesis and configured to be inserted into an auditory nerve of the patient. In this configuration, the auditory prosthesis may stimulate the auditory nerve by applying electrical stimulation by way of the intracochlear electrode array and/or the intraneural electrode array.