diff --git a/include/kernel.h b/include/kernel.h
index 546bd924334..835a99fe1db 100644
--- a/include/kernel.h
+++ b/include/kernel.h
@@ -4126,6 +4126,8 @@ struct k_msgq {
 	/** Number of used messages */
 	uint32_t used_msgs;
 
+	_POLL_EVENT;
+
 	_OBJECT_TRACING_NEXT_PTR(k_msgq)
 	_OBJECT_TRACING_LINKED_FLAG
 
@@ -4147,6 +4149,7 @@ struct k_msgq {
 	.read_ptr = q_buffer, \
 	.write_ptr = q_buffer, \
 	.used_msgs = 0, \
+	_POLL_EVENT_OBJ_INIT(obj) \
 	_OBJECT_TRACING_INIT \
 	}
 
@@ -5098,6 +5101,9 @@ enum _poll_types_bits {
 	/* queue/FIFO/LIFO data availability */
 	_POLL_TYPE_DATA_AVAILABLE,
 
+	/* msgq data availability */
+	_POLL_TYPE_MSGQ_DATA_AVAILABLE,
+
 	_POLL_NUM_TYPES
 };
 
@@ -5120,6 +5126,9 @@ enum _poll_states_bits {
 	/* queue/FIFO/LIFO wait was cancelled */
 	_POLL_STATE_CANCELLED,
 
+	/* data is available to read on a message queue */
+	_POLL_STATE_MSGQ_DATA_AVAILABLE,
+
 	_POLL_NUM_STATES
 };
 
@@ -5150,6 +5159,7 @@ enum _poll_states_bits {
 #define K_POLL_TYPE_SEM_AVAILABLE Z_POLL_TYPE_BIT(_POLL_TYPE_SEM_AVAILABLE)
 #define K_POLL_TYPE_DATA_AVAILABLE Z_POLL_TYPE_BIT(_POLL_TYPE_DATA_AVAILABLE)
 #define K_POLL_TYPE_FIFO_DATA_AVAILABLE K_POLL_TYPE_DATA_AVAILABLE
+#define K_POLL_TYPE_MSGQ_DATA_AVAILABLE Z_POLL_TYPE_BIT(_POLL_TYPE_MSGQ_DATA_AVAILABLE)
 
 /* public - polling modes */
 enum k_poll_modes {
@@ -5165,6 +5175,7 @@ enum k_poll_modes {
 #define K_POLL_STATE_SEM_AVAILABLE Z_POLL_STATE_BIT(_POLL_STATE_SEM_AVAILABLE)
 #define K_POLL_STATE_DATA_AVAILABLE Z_POLL_STATE_BIT(_POLL_STATE_DATA_AVAILABLE)
 #define K_POLL_STATE_FIFO_DATA_AVAILABLE K_POLL_STATE_DATA_AVAILABLE
+#define K_POLL_STATE_MSGQ_DATA_AVAILABLE Z_POLL_STATE_BIT(_POLL_STATE_MSGQ_DATA_AVAILABLE)
 #define K_POLL_STATE_CANCELLED Z_POLL_STATE_BIT(_POLL_STATE_CANCELLED)
 
 /* public - poll signal object */
@@ -5221,6 +5232,7 @@ struct k_poll_event {
 		struct k_sem *sem;
 		struct k_fifo *fifo;
 		struct k_queue *queue;
+		struct k_msgq *msgq;
 	};
 };
 
diff --git a/kernel/msg_q.c b/kernel/msg_q.c
index cf0f661f947..f888fde72e6 100644
--- a/kernel/msg_q.c
+++ b/kernel/msg_q.c
@@ -46,6 +46,13 @@ SYS_INIT(init_msgq_module, PRE_KERNEL_1, CONFIG_KERNEL_INIT_PRIORITY_OBJECTS);
 
 #endif /* CONFIG_OBJECT_TRACING */
 
+#ifdef CONFIG_POLL
+static inline void handle_poll_events(struct k_msgq *msgq, uint32_t state)
+{
+	z_handle_obj_poll_events(&msgq->poll_events, state);
+}
+#endif /* CONFIG_POLL */
+
 void k_msgq_init(struct k_msgq *msgq, char *buffer, size_t msg_size,
 		 uint32_t max_msgs)
 {
@@ -59,7 +66,9 @@ void k_msgq_init(struct k_msgq *msgq, char *buffer, size_t msg_size,
 	msgq->flags = 0;
 	z_waitq_init(&msgq->wait_q);
 	msgq->lock = (struct k_spinlock) {};
-
+#ifdef CONFIG_POLL
+	sys_dlist_init(&msgq->poll_events);
+#endif	/* CONFIG_POLL */
 	SYS_TRACING_OBJ_INIT(k_msgq, msgq);
 
 	z_object_init(msgq);
@@ -143,6 +152,9 @@ int z_impl_k_msgq_put(struct k_msgq *msgq, const void *data, k_timeout_t timeout
 				msgq->write_ptr = msgq->buffer_start;
 			}
 			msgq->used_msgs++;
+#ifdef CONFIG_POLL
+			handle_poll_events(msgq, K_POLL_STATE_MSGQ_DATA_AVAILABLE);
+#endif /* CONFIG_POLL */
 		}
 		result = 0;
 	} else if (K_TIMEOUT_EQ(timeout, K_NO_WAIT)) {
diff --git a/kernel/poll.c b/kernel/poll.c
index 376f51b2c66..231bc83f629 100644
--- a/kernel/poll.c
+++ b/kernel/poll.c
@@ -78,6 +78,12 @@ static inline bool is_condition_met(struct k_poll_event *event, uint32_t *state)
 			return true;
 		}
 		break;
+	case K_POLL_TYPE_MSGQ_DATA_AVAILABLE:
+		if (event->msgq->used_msgs > 0) {
+			*state = K_POLL_STATE_MSGQ_DATA_AVAILABLE;
+			return true;
+		}
+		break;
 	case K_POLL_TYPE_IGNORE:
 		break;
 	default:
@@ -134,6 +140,10 @@ static inline void register_event(struct k_poll_event *event,
 		__ASSERT(event->signal != NULL, "invalid poll signal\n");
 		add_event(&event->signal->poll_events, event, poller);
 		break;
+	case K_POLL_TYPE_MSGQ_DATA_AVAILABLE:
+		__ASSERT(event->msgq != NULL, "invalid message queue\n");
+		add_event(&event->msgq->poll_events, event, poller);
+		break;
 	case K_POLL_TYPE_IGNORE:
 		/* nothing to do */
 		break;
@@ -165,6 +175,10 @@ static inline void clear_event_registration(struct k_poll_event *event)
 		__ASSERT(event->signal != NULL, "invalid poll signal\n");
 		remove_event = true;
 		break;
+	case K_POLL_TYPE_MSGQ_DATA_AVAILABLE:
+		__ASSERT(event->msgq != NULL, "invalid message queue\n");
+		remove_event = true;
+		break;
 	case K_POLL_TYPE_IGNORE:
 		/* nothing to do */
 		break;
@@ -362,6 +376,9 @@ static inline int z_vrfy_k_poll(struct k_poll_event *events,
 		case K_POLL_TYPE_DATA_AVAILABLE:
 			Z_OOPS(Z_SYSCALL_OBJ(e->queue, K_OBJ_QUEUE));
 			break;
+		case K_POLL_TYPE_MSGQ_DATA_AVAILABLE:
+			Z_OOPS(Z_SYSCALL_OBJ(e->msgq, K_OBJ_MSGQ));
+			break;
 		default:
 			ret = -EINVAL;
 			goto out_free;