diff --git a/embassy-sync/src/lib.rs b/embassy-sync/src/lib.rs
index df0f5e815..5d91b4d9c 100644
--- a/embassy-sync/src/lib.rs
+++ b/embassy-sync/src/lib.rs
@@ -18,6 +18,7 @@ pub mod once_lock;
 pub mod pipe;
 pub mod priority_channel;
 pub mod pubsub;
+pub mod rwlock;
 pub mod semaphore;
 pub mod signal;
 pub mod waitqueue;
diff --git a/embassy-sync/src/rwlock.rs b/embassy-sync/src/rwlock.rs
new file mode 100644
index 000000000..15ea8468e
--- /dev/null
+++ b/embassy-sync/src/rwlock.rs
@@ -0,0 +1,256 @@
+use core::cell::RefCell;
+use core::future::{poll_fn, Future};
+use core::ops::{Deref, DerefMut};
+use core::task::Poll;
+
+use crate::blocking_mutex::raw::RawMutex;
+use crate::blocking_mutex::Mutex as BlockingMutex;
+use crate::waitqueue::MultiWakerRegistration;
+
+/// Error returned by [`RwLock::try_read`] and [`RwLock::try_write`]
+#[derive(PartialEq, Eq, Clone, Copy, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct TryLockError;
+
+/// Async read-write lock.
+///
+/// The lock is generic over a blocking [`RawMutex`](crate::blocking_mutex::raw::RawMutex).
+/// The raw mutex is used to guard access to the internal state. It
+/// is held for very short periods only, while locking and unlocking. It is *not* held
+/// for the entire time the async RwLock is locked.
+///
+/// Which implementation you select depends on the context in which you're using the lock.
+///
+/// Use [`CriticalSectionRawMutex`](crate::blocking_mutex::raw::CriticalSectionRawMutex) when data can be shared between threads and interrupts.
+///
+/// Use [`NoopRawMutex`](crate::blocking_mutex::raw::NoopRawMutex) when data is only shared between tasks running on the same executor.
+///
+/// Use [`ThreadModeRawMutex`](crate::blocking_mutex::raw::ThreadModeRawMutex) when data is shared between tasks running on the same executor but you want a singleton.
+///
+pub struct RwLock<M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    state: BlockingMutex<M, RefCell<State>>,
+    inner: RefCell<T>,
+}
+
+struct State {
+    readers: usize,
+    writer: bool,
+    writer_waker: MultiWakerRegistration<1>,
+    reader_wakers: MultiWakerRegistration<8>,
+}
+
+impl State {
+    fn new() -> Self {
+        Self {
+            readers: 0,
+            writer: false,
+            writer_waker: MultiWakerRegistration::new(),
+            reader_wakers: MultiWakerRegistration::new(),
+        }
+    }
+}
+
+impl<M, T> RwLock<M, T>
+where
+    M: RawMutex,
+{
+    /// Create a new read-write lock with the given value.
+    pub const fn new(value: T) -> Self {
+        Self {
+            inner: RefCell::new(value),
+            state: BlockingMutex::new(RefCell::new(State::new())),
+        }
+    }
+}
+
+impl<M, T> RwLock<M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    /// Acquire a read lock.
+    ///
+    /// This will wait for the lock to be available if it's already locked for writing.
+    pub fn read(&self) -> impl Future<Output = RwLockReadGuard<'_, M, T>> {
+        poll_fn(|cx| {
+            let mut state = self.state.lock(|s| s.borrow_mut());
+            if state.writer {
+                state.reader_wakers.register(cx.waker());
+                Poll::Pending
+            } else {
+                state.readers += 1;
+                Poll::Ready(RwLockReadGuard { lock: self })
+            }
+        })
+    }
+
+    /// Acquire a write lock.
+    ///
+    /// This will wait for the lock to be available if it's already locked for reading or writing.
+    pub fn write(&self) -> impl Future<Output = RwLockWriteGuard<'_, M, T>> {
+        poll_fn(|cx| {
+            let mut state = self.state.lock(|s| s.borrow_mut());
+            if state.writer || state.readers > 0 {
+                state.writer_waker.register(cx.waker());
+                Poll::Pending
+            } else {
+                state.writer = true;
+                Poll::Ready(RwLockWriteGuard { lock: self })
+            }
+        })
+    }
+
+    /// Attempt to immediately acquire a read lock.
+    ///
+    /// If the lock is already locked for writing, this will return an error instead of waiting.
+    pub fn try_read(&self) -> Result<RwLockReadGuard<'_, M, T>, TryLockError> {
+        let mut state = self.state.lock(|s| s.borrow_mut());
+        if state.writer {
+            Err(TryLockError)
+        } else {
+            state.readers += 1;
+            Ok(RwLockReadGuard { lock: self })
+        }
+    }
+
+    /// Attempt to immediately acquire a write lock.
+    ///
+    /// If the lock is already locked for reading or writing, this will return an error instead of waiting.
+    pub fn try_write(&self) -> Result<RwLockWriteGuard<'_, M, T>, TryLockError> {
+        let mut state = self.state.lock(|s| s.borrow_mut());
+        if state.writer || state.readers > 0 {
+            Err(TryLockError)
+        } else {
+            state.writer = true;
+            Ok(RwLockWriteGuard { lock: self })
+        }
+    }
+
+    /// Consumes this lock, returning the underlying data.
+    pub fn into_inner(self) -> T
+    where
+        T: Sized,
+    {
+        self.inner.into_inner()
+    }
+
+    /// Returns a mutable reference to the underlying data.
+    ///
+    /// Since this call borrows the RwLock mutably, no actual locking needs to
+    /// take place -- the mutable borrow statically guarantees no locks exist.
+    pub fn get_mut(&mut self) -> &mut T {
+        self.inner.get_mut()
+    }
+}
+
+impl<M, T> From<T> for RwLock<M, T>
+where
+    M: RawMutex,
+{
+    fn from(from: T) -> Self {
+        Self::new(from)
+    }
+}
+
+impl<M, T> Default for RwLock<M, T>
+where
+    M: RawMutex,
+    T: Default,
+{
+    fn default() -> Self {
+        Self::new(Default::default())
+    }
+}
+
+/// Async read lock guard.
+///
+/// Owning an instance of this type indicates having
+/// successfully locked the RwLock for reading, and grants access to the contents.
+///
+/// Dropping it unlocks the RwLock.
+#[must_use = "if unused the RwLock will immediately unlock"]
+pub struct RwLockReadGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    lock: &'a RwLock<M, T>,
+}
+
+impl<'a, M, T> Drop for RwLockReadGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    fn drop(&mut self) {
+        let mut state = self.lock.state.lock(|s| s.borrow_mut());
+        state.readers -= 1;
+        if state.readers == 0 {
+            state.writer_waker.wake();
+        }
+    }
+}
+
+impl<'a, M, T> Deref for RwLockReadGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    type Target = T;
+    fn deref(&self) -> &Self::Target {
+        self.lock.inner.borrow()
+    }
+}
+
+/// Async write lock guard.
+///
+/// Owning an instance of this type indicates having
+/// successfully locked the RwLock for writing, and grants access to the contents.
+///
+/// Dropping it unlocks the RwLock.
+#[must_use = "if unused the RwLock will immediately unlock"]
+pub struct RwLockWriteGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    lock: &'a RwLock<M, T>,
+}
+
+impl<'a, M, T> Drop for RwLockWriteGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    fn drop(&mut self) {
+        let mut state = self.lock.state.lock(|s| s.borrow_mut());
+        state.writer = false;
+        state.reader_wakers.wake();
+        state.writer_waker.wake();
+    }
+}
+
+impl<'a, M, T> Deref for RwLockWriteGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    type Target = T;
+    fn deref(&self) -> &Self::Target {
+        self.lock.inner.borrow()
+    }
+}
+
+impl<'a, M, T> DerefMut for RwLockWriteGuard<'a, M, T>
+where
+    M: RawMutex,
+    T: ?Sized,
+{
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        self.lock.inner.borrow_mut()
+    }
+}
diff --git a/embassy-sync/tests/rwlock.rs b/embassy-sync/tests/rwlock.rs
new file mode 100644
index 000000000..301cb0492
--- /dev/null
+++ b/embassy-sync/tests/rwlock.rs
@@ -0,0 +1,81 @@
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::rwlock::RwLock;
+use futures_executor::block_on;
+
+#[futures_test::test]
+async fn test_rwlock_read() {
+    let lock = RwLock::<NoopRawMutex, _>::new(5);
+
+    {
+        let read_guard = lock.read().await;
+        assert_eq!(*read_guard, 5);
+    }
+
+    {
+        let read_guard = lock.read().await;
+        assert_eq!(*read_guard, 5);
+    }
+}
+
+#[futures_test::test]
+async fn test_rwlock_write() {
+    let lock = RwLock::<NoopRawMutex, _>::new(5);
+
+    {
+        let mut write_guard = lock.write().await;
+        *write_guard = 10;
+    }
+
+    {
+        let read_guard = lock.read().await;
+        assert_eq!(*read_guard, 10);
+    }
+}
+
+#[futures_test::test]
+async fn test_rwlock_try_read() {
+    let lock = RwLock::<NoopRawMutex, _>::new(5);
+
+    {
+        let read_guard = lock.try_read().unwrap();
+        assert_eq!(*read_guard, 5);
+    }
+
+    {
+        let read_guard = lock.try_read().unwrap();
+        assert_eq!(*read_guard, 5);
+    }
+}
+
+#[futures_test::test]
+async fn test_rwlock_try_write() {
+    let lock = RwLock::<NoopRawMutex, _>::new(5);
+
+    {
+        let mut write_guard = lock.try_write().unwrap();
+        *write_guard = 10;
+    }
+
+    {
+        let read_guard = lock.try_read().unwrap();
+        assert_eq!(*read_guard, 10);
+    }
+}
+
+#[futures_test::test]
+async fn test_rwlock_fairness() {
+    let lock = RwLock::<NoopRawMutex, _>::new(5);
+
+    let read1 = lock.read().await;
+    let read2 = lock.read().await;
+
+    let write_fut = lock.write();
+    futures_util::pin_mut!(write_fut);
+
+    assert!(futures_util::poll!(write_fut.as_mut()).is_pending());
+
+    drop(read1);
+    drop(read2);
+
+    assert!(futures_util::poll!(write_fut.as_mut()).is_ready());
+}