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diff --git a/docs/sphinx/dbusdoc.py b/docs/sphinx/dbusdoc.py
new file mode 100644
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+# D-Bus XML documentation extension
+#
+# Copyright (C) 2021, Red Hat Inc.
+#
+# SPDX-License-Identifier: LGPL-2.1-or-later
+#
+# Author: Marc-André Lureau <marcandre.lureau@redhat.com>
+"""dbus-doc is a Sphinx extension that provides documentation from D-Bus XML."""
+
+import os
+import re
+from typing import (
+    TYPE_CHECKING,
+    Any,
+    Callable,
+    Dict,
+    Iterator,
+    List,
+    Optional,
+    Sequence,
+    Set,
+    Tuple,
+    Type,
+    TypeVar,
+    Union,
+)
+
+import sphinx
+from docutils import nodes
+from docutils.nodes import Element, Node
+from docutils.parsers.rst import Directive, directives
+from docutils.parsers.rst.states import RSTState
+from docutils.statemachine import StringList, ViewList
+from sphinx.application import Sphinx
+from sphinx.errors import ExtensionError
+from sphinx.util import logging
+from sphinx.util.docstrings import prepare_docstring
+from sphinx.util.docutils import SphinxDirective, switch_source_input
+from sphinx.util.nodes import nested_parse_with_titles
+
+import dbusdomain
+from dbusparser import parse_dbus_xml
+
+logger = logging.getLogger(__name__)
+
+__version__ = "1.0"
+
+
+class DBusDoc:
+    def __init__(self, sphinx_directive, dbusfile):
+        self._cur_doc = None
+        self._sphinx_directive = sphinx_directive
+        self._dbusfile = dbusfile
+        self._top_node = nodes.section()
+        self.result = StringList()
+        self.indent = ""
+
+    def add_line(self, line: str, *lineno: int) -> None:
+        """Append one line of generated reST to the output."""
+        if line.strip():  # not a blank line
+            self.result.append(self.indent + line, self._dbusfile, *lineno)
+        else:
+            self.result.append("", self._dbusfile, *lineno)
+
+    def add_method(self, method):
+        self.add_line(f".. dbus:method:: {method.name}")
+        self.add_line("")
+        self.indent += "   "
+        for arg in method.in_args:
+            self.add_line(f":arg {arg.signature} {arg.name}: {arg.doc_string}")
+        for arg in method.out_args:
+            self.add_line(f":ret {arg.signature} {arg.name}: {arg.doc_string}")
+        self.add_line("")
+        for line in prepare_docstring("\n" + method.doc_string):
+            self.add_line(line)
+        self.indent = self.indent[:-3]
+
+    def add_signal(self, signal):
+        self.add_line(f".. dbus:signal:: {signal.name}")
+        self.add_line("")
+        self.indent += "   "
+        for arg in signal.args:
+            self.add_line(f":arg {arg.signature} {arg.name}: {arg.doc_string}")
+        self.add_line("")
+        for line in prepare_docstring("\n" + signal.doc_string):
+            self.add_line(line)
+        self.indent = self.indent[:-3]
+
+    def add_property(self, prop):
+        self.add_line(f".. dbus:property:: {prop.name}")
+        self.indent += "   "
+        self.add_line(f":type: {prop.signature}")
+        access = {"read": "readonly", "write": "writeonly", "readwrite": "readwrite"}[
+            prop.access
+        ]
+        self.add_line(f":{access}:")
+        if prop.emits_changed_signal:
+            self.add_line(f":emits-changed: yes")
+        self.add_line("")
+        for line in prepare_docstring("\n" + prop.doc_string):
+            self.add_line(line)
+        self.indent = self.indent[:-3]
+
+    def add_interface(self, iface):
+        self.add_line(f".. dbus:interface:: {iface.name}")
+        self.add_line("")
+        self.indent += "   "
+        for line in prepare_docstring("\n" + iface.doc_string):
+            self.add_line(line)
+        for method in iface.methods:
+            self.add_method(method)
+        for sig in iface.signals:
+            self.add_signal(sig)
+        for prop in iface.properties:
+            self.add_property(prop)
+        self.indent = self.indent[:-3]
+
+
+def parse_generated_content(state: RSTState, content: StringList) -> List[Node]:
+    """Parse a generated content by Documenter."""
+    with switch_source_input(state, content):
+        node = nodes.paragraph()
+        node.document = state.document
+        state.nested_parse(content, 0, node)
+
+        return node.children
+
+
+class DBusDocDirective(SphinxDirective):
+    """Extract documentation from the specified D-Bus XML file"""
+
+    has_content = True
+    required_arguments = 1
+    optional_arguments = 0
+    final_argument_whitespace = True
+
+    def run(self):
+        reporter = self.state.document.reporter
+
+        try:
+            source, lineno = reporter.get_source_and_line(self.lineno)  # type: ignore
+        except AttributeError:
+            source, lineno = (None, None)
+
+        logger.debug("[dbusdoc] %s:%s: input:\n%s", source, lineno, self.block_text)
+
+        env = self.state.document.settings.env
+        dbusfile = env.config.qapidoc_srctree + "/" + self.arguments[0]
+        with open(dbusfile, "rb") as f:
+            xml_data = f.read()
+        xml = parse_dbus_xml(xml_data)
+        doc = DBusDoc(self, dbusfile)
+        for iface in xml:
+            doc.add_interface(iface)
+
+        result = parse_generated_content(self.state, doc.result)
+        return result
+
+
+def setup(app: Sphinx) -> Dict[str, Any]:
+    """Register dbus-doc directive with Sphinx"""
+    app.add_config_value("dbusdoc_srctree", None, "env")
+    app.add_directive("dbus-doc", DBusDocDirective)
+    dbusdomain.setup(app)
+
+    return dict(version=__version__, parallel_read_safe=True, parallel_write_safe=True)