diff --git a/include/kernel.h b/include/kernel.h
index f85978420b0..545196bb029 100644
--- a/include/kernel.h
+++ b/include/kernel.h
@@ -3327,6 +3327,23 @@ __syscall int k_msgq_put(struct k_msgq *q, void *data, s32_t timeout);
  */
 __syscall int k_msgq_get(struct k_msgq *q, void *data, s32_t timeout);
 
+/**
+ * @brief Peek/read a message from a message queue.
+ *
+ * This routine reads a message from message queue @a q in a "first in,
+ * first out" manner and leaves the message in the queue.
+ *
+ * @note Can be called by ISRs.
+ *
+ * @param q Address of the message queue.
+ * @param data Address of area to hold the message read from the queue.
+ *
+ * @retval 0 Message read.
+ * @retval -ENOMSG Returned when the queue has no message.
+ * @req K-MSGQ-002
+ */
+__syscall int k_msgq_peek(struct k_msgq *q, void *data);
+
 /**
  * @brief Purge a message queue.
  *