diff --git a/doc/guides/west/manifest.rst b/doc/guides/west/manifest.rst
index 2dadcbd8ae1..a5c745e14a7 100644
--- a/doc/guides/west/manifest.rst
+++ b/doc/guides/west/manifest.rst
@@ -432,7 +432,10 @@ projects unless explicitly requested not to.
 
 The next section introduces project groups; the following sections describe
 :ref:`west-enabled-disabled-groups` and :ref:`west-active-inactive-projects`.
-Finally, there are :ref:`west-project-group-examples`.
+There are some basic examples in :ref:`west-project-group-examples`.
+
+Finally, :ref:`west-group-filter-imports` provides a simplified overview of how
+``group-filter`` interacts with the :ref:`west-manifest-import` feature.
 
 Project Groups
 ==============
@@ -477,49 +480,45 @@ avoids some edge cases whose semantics are difficult to specify.)
 Enabled and Disabled Project Groups
 ===================================
 
-You can enable or disable project groups in both your manifest file and
-:ref:`west-config`.
+All project groups are enabled by default. You can enable or disable groups in
+both your manifest file and :ref:`west-config`.
 
-All groups are enabled by default.
+Within a manifest file, ``manifest: group-filter:`` is a YAML list of groups to
+enable and disable.
 
-Within the manifest file, the top level ``manifest: group-filter:`` value can
-be used to disable project groups. To disable a group, prefix its name with a
-dash (-). For example, in this manifest fragment:
+To enable a group, prefix its name with a plus sign (+). For example,
+``groupA`` is enabled in this manifest fragment:
+
+.. code-block:: yaml
+
+   manifest:
+     group-filter: [+groupA]
+
+Although this is redundant for groups that are already enabled by default, it
+can be used to override settings in an imported manifest file. See
+:ref:`west-group-filter-imports` for more information.
+
+To disable a group, prefix its name with a dash (-). For example, ``groupA``
+and ``groupB`` are disabled in this manifest fragment:
 
 .. code-block:: yaml
 
    manifest:
      group-filter: [-groupA,-groupB]
 
-The groups named ``groupA`` and ``groupB`` are disabled by this
-``group-filter`` value.
+.. note::
 
-The ``group-filter`` list is an ordinary YAML list, so you could have also
-written this fragment like this:
+   Since ``group-filter`` is a YAML list, you could have written this fragment
+   as follows:
 
-.. code-block:: yaml
+   .. code-block:: yaml
 
-   manifest:
-     group-filter:
-       - -groupA
-       - -groupB
+      manifest:
+        group-filter:
+          - -groupA
+          - -groupB
 
-However, this syntax is harder to read and therefore discouraged.
-
-Although it's not an error to enable groups within ``manifest: group-filter:``,
-like this:
-
-.. code-block:: yaml
-
-   manifest:
-     ...
-     group-filter: [+groupA]
-
-doing so is redundant since groups are enabled by default.
-
-Only the **top level manifest file's** ``manifest: group-filter:`` value has
-any effect. The ``manifest: group-filter:`` values in any
-:ref:`imported manifests <west-manifest-import>` are ignored.
+   However, this syntax is harder to read and therefore discouraged.
 
 In addition to the manifest file, you can control which groups are enabled and
 disabled using the ``manifest.group-filter`` configuration option. This option
@@ -788,6 +787,175 @@ In this case, both ``groupA`` and ``groupB`` are disabled.
 
 Therefore, projects ``foo`` and ``bar`` are both inactive.
 
+.. _west-group-filter-imports:
+
+Group Filters and Imports
+=========================
+
+This section provides a simplified description of how the ``manifest:
+group-filter:`` value behaves when combined with :ref:`west-manifest-import`.
+For complete details, see :ref:`west-manifest-formal`.
+
+.. warning::
+
+   The below semantics apply to west v0.10.0 and later. West v0.9.x semantics
+   are different, and combining ``group-filter`` with ``import`` in west v0.9.x
+   is discouraged.
+
+In short:
+
+- if you only import one manifest, any groups it disables in its
+  ``group-filter`` are also disabled in your manifest
+- you can override this in your manifest file's ``manifest: group-filter:``
+  value, your workspace's ``manifest.group-filter`` configuration option, or
+  both
+
+Here are some examples.
+
+Example 1: no overrides
+-----------------------
+
+You are using this :file:`parent/west.yml` manifest:
+
+.. code-block:: yaml
+
+   # parent/west.yml:
+   manifest:
+     projects:
+       - name: child
+         url: https://git.example.com/child
+         import: true
+       - name: project-1
+         url: https://git.example.com/project-1
+         groups:
+           - unstable
+
+And :file:`child/west.yml` contains:
+
+.. code-block:: yaml
+
+   # child/west.yml:
+   manifest:
+     group-filter: [-unstable]
+     projects:
+       - name: project-2
+         url: https://git.example.com/project-2
+       - name: project-3
+         url: https://git.example.com/project-3
+         groups:
+           - unstable
+
+Only ``child`` and ``project-2`` are active in the resolved manifest.
+
+The ``unstable`` group is disabled in :file:`child/west.yml`, and that is not
+overridden in :file:`parent/west.yml`. Therefore, the final ``group-filter``
+for the resolved manifest is ``[-unstable]``.
+
+Since ``project-1`` and ``project-3`` are in the ``unstable`` group and are not
+in any other group, they are inactive.
+
+Example 2: overriding an imported ``group-filter`` via manifest
+---------------------------------------------------------------
+
+You are using this :file:`parent/west.yml` manifest:
+
+.. code-block:: yaml
+
+   # parent/west.yml:
+   manifest:
+     group-filter: [+unstable,-optional]
+     projects:
+       - name: child
+         url: https://git.example.com/child
+         import: true
+       - name: project-1
+         url: https://git.example.com/project-1
+         groups:
+           - unstable
+
+And :file:`child/west.yml` contains:
+
+.. code-block:: yaml
+
+   # child/west.yml:
+   manifest:
+     group-filter: [-unstable]
+     projects:
+       - name: project-2
+         url: https://git.example.com/project-2
+         groups:
+           - optional
+       - name: project-3
+         url: https://git.example.com/project-3
+         groups:
+           - unstable
+
+Only the ``child``, ``project-1``, and ``project-3`` projects are active.
+
+The ``[-unstable]`` group filter in :file:`child/west.yml` is overridden in
+:file:`parent/west.yml`, so the ``unstable`` group is enabled. Since
+``project-1`` and ``project-3`` are in the ``unstable`` group, they are active.
+
+The same :file:`parent/west.yml` file disables the ``optional`` group, so
+``project-2`` is inactive.
+
+The final group filter specified by :file:`parent/west.yml` is
+``[+unstable,-optional]``.
+
+Example 3: overriding an imported ``group-filter`` via configuration
+--------------------------------------------------------------------
+
+You are using this :file:`parent/west.yml` manifest:
+
+.. code-block:: yaml
+
+   # parent/west.yml:
+   manifest:
+     projects:
+       - name: child
+         url: https://git.example.com/child
+         import: true
+       - name: project-1
+         url: https://git.example.com/project-1
+         groups:
+           - unstable
+
+And :file:`child/west.yml` contains:
+
+.. code-block:: yaml
+
+   # child/west.yml:
+   manifest:
+     group-filter: [-unstable]
+     projects:
+       - name: project-2
+         url: https://git.example.com/project-2
+         groups:
+           - optional
+       - name: project-3
+         url: https://git.example.com/project-3
+         groups:
+           - unstable
+
+If you run:
+
+.. code-block:: shell
+
+   west config manifest.group-filter +unstable,-optional
+
+Then only the ``child``, ``project-1``, and ``project-3`` projects are active.
+
+The ``-unstable`` group filter in :file:`child/west.yml` is overridden in the
+``manifest.group-filter`` configuration option, so the ``unstable`` group is
+enabled. Since ``project-1`` and ``project-3`` are in the ``unstable`` group,
+they are active.
+
+The same configuration option disables the ``optional`` group, so ``project-2``
+is inactive.
+
+The final group filter specified by :file:`parent/west.yml` and the
+``manifest.group-filter`` configuration option is ``[+unstable,-optional]``.
+
 .. _west-manifest-submodules:
 
 Git Submodules in Projects
@@ -1690,6 +1858,9 @@ The ultimate outcomes of resolving manifest imports are:
 - a set of extension commands, which are drawn from the the ``west-commands``
   keys in in the top-level file and any imported files
 
+- a ``group-filter`` list, which is produced by combining the top-level and any
+  imported filters
+
 Importing is done in this order:
 
 #. Manifests from ``self-import`` are imported first.
@@ -1757,6 +1928,43 @@ If an imported manifest file has a ``west-commands:`` definition in its
 available extensions at the time the manifest is imported. They will thus take
 precedence over any extension commands with the same names added later on.
 
+Group filters
+-------------
+
+The resolved manifest has a ``group-filter`` value which is the result of
+concatenating the ``group-filter`` values in the top-level manifest and any
+imported manifests.
+
+Manifest files which appear earlier in the import order have higher precedence
+and are therefore concatenated later into the final ``group-filter``.
+
+In other words, let:
+
+- the submanifest resolved from ``self-import`` have group filter ``self-filter``
+- the top-level manifest file have group filter ``top-filter``
+- the submanifests resolved from ``import-1`` through ``import-N`` have group
+  filters ``filter-1`` through ``filter-N`` respectively
+
+The final resolved ``group-filter`` value is then ``filter1 + filter-2 + ... +
+filter-N + top-filter + self-filter``, where ``+`` here refers to list
+concatenation.
+
+.. important::
+
+   The order that filters appear in the above list matters.
+
+   The last filter element in the final concatenated list "wins" and determines
+   if the group is enabled or disabled.
+
+For example, in ``[-foo] + [+foo]``, group ``foo`` is *enabled*.
+However, in ``[+foo] + [-foo]``, group ``foo`` is *disabled*.
+
+For simplicity, west and this documentation may elide concatenated group filter
+elements which are redundant using these rules. For example, ``[+foo] +
+[-foo]`` could be written more simply as ``[-foo]``, for the reasons given
+above. As another example, ``[-foo] + [+foo]`` could be written as the empty
+list ``[]``, since all groups are enabled by default.
+
 .. _west-manifest-cmd:
 
 Manifest Command