diff --git a/CMakeLists.txt b/CMakeLists.txt
index c9a87bc4c4a..8dccfa65bfa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,8 @@ option(BUILD_EXAMPLES             "Build Open3D examples programs"           ON
 option(BUILD_UNIT_TESTS           "Build Open3D unit tests"                  OFF)
 option(BUILD_BENCHMARKS           "Build the micro benchmarks"               OFF)
 option(BUILD_PYTHON_MODULE        "Build the python module"                  ON )
+option(WITH_STUBGEN               "Use pybind11-stubgen to generate stubs"   OFF)
+option(IGNORE_STUBGEN_ERRORS      "Ignore all errors during stub generation" ON )
 option(BUILD_CUDA_MODULE          "Build the CUDA module"                    OFF)
 option(BUILD_WITH_CUDA_STATIC     "Build with static CUDA libraries"         ON )
 option(BUILD_COMMON_CUDA_ARCHS    "Build for common CUDA GPUs (for release)" OFF)
diff --git a/cmake/Open3DPrintConfigurationSummary.cmake b/cmake/Open3DPrintConfigurationSummary.cmake
index c12946af62c..f9274280fec 100644
--- a/cmake/Open3DPrintConfigurationSummary.cmake
+++ b/cmake/Open3DPrintConfigurationSummary.cmake
@@ -37,6 +37,10 @@ function(open3d_print_configuration_summary)
     open3d_aligned_print("Build Unit Tests" "${BUILD_UNIT_TESTS}")
     open3d_aligned_print("Build Examples" "${BUILD_EXAMPLES}")
     open3d_aligned_print("Build Python Module" "${BUILD_PYTHON_MODULE}")
+    open3d_aligned_print("Generate Typing Stubs" "${WITH_STUBGEN}")
+    if(WITH_STUBGEN)
+        open3d_aligned_print("Ignore All Stubgen Errors" "${IGNORE_STUBGEN_ERRORS}")
+    endif()
     open3d_aligned_print("Build Jupyter Extension" "${BUILD_JUPYTER_EXTENSION}")
     open3d_aligned_print("Build TensorFlow Ops" "${BUILD_TENSORFLOW_OPS}")
     open3d_aligned_print("Build PyTorch Ops" "${BUILD_PYTORCH_OPS}")
diff --git a/cpp/pybind/CMakeLists.txt b/cpp/pybind/CMakeLists.txt
index 4da6d51aebd..528eee1d0f6 100644
--- a/cpp/pybind/CMakeLists.txt
+++ b/cpp/pybind/CMakeLists.txt
@@ -223,6 +223,8 @@ add_custom_target(python-package
             -DPYTHON_VERSION=${PYTHON_VERSION}
             "-DCOMPILED_MODULE_PATH_LIST=${COMPILED_MODULE_PATH_LIST}"
             "-DPYTHON_EXTRA_LIBRARIES=${PYTHON_EXTRA_LIBRARIES}"
+            -DWITH_STUBGEN=${WITH_STUBGEN}
+            -DIGNORE_STUBGEN_ERRORS=${IGNORE_STUBGEN_ERRORS}
             -DBUILD_JUPYTER_EXTENSION=${BUILD_JUPYTER_EXTENSION}
             -DBUILD_TENSORFLOW_OPS=${BUILD_TENSORFLOW_OPS}
             -DBUILD_PYTORCH_OPS=${BUILD_PYTORCH_OPS}
diff --git a/cpp/pybind/make_python_package.cmake b/cpp/pybind/make_python_package.cmake
index aa4171414b0..fd7d79d9b93 100644
--- a/cpp/pybind/make_python_package.cmake
+++ b/cpp/pybind/make_python_package.cmake
@@ -139,3 +139,19 @@ file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
 file(COPY "${PYTHON_PACKAGE_SRC_DIR}/../examples/python/"
      DESTINATION "${PYTHON_PACKAGE_DST_DIR}/open3d/examples")
+
+# Generate typing stub files (.pyi) and py.typed marker file.
+if(WITH_STUBGEN)
+    if(NOT IGNORE_STUBGEN_ERRORS)
+        list(APPEND PYBIND11_STUBGEN_FLAGS "--exit-code")
+    endif()
+    message(STATUS "Generating typing stubs...")
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHON_PACKAGE_DST_DIR}
+                pybind11-stubgen open3d -o ${PYTHON_PACKAGE_DST_DIR}
+                ${PYBIND11_STUBGEN_FLAGS}
+        COMMAND_ECHO STDOUT
+        COMMAND_ERROR_IS_FATAL ANY
+    )
+    file(WRITE "${PYTHON_PACKAGE_DST_DIR}/open3d/py.typed" "")
+endif()
diff --git a/python/open3d/__init__.py b/python/open3d/__init__.py
index 87608701d5c..0a1a00af3a9 100644
--- a/python/open3d/__init__.py
+++ b/python/open3d/__init__.py
@@ -211,4 +211,4 @@ def _jupyter_nbextension_paths():
 
 if sys.platform == "win32":
     _win32_dll_dir.close()
-del os, sys, CDLL, find_library, Path, warnings, _insert_pybind_names
+del os, sys, CDLL, find_library, Path, warnings, _insert_pybind_names, open3d
diff --git a/python/requirements_stubgen.txt b/python/requirements_stubgen.txt
new file mode 100644
index 00000000000..da78393bcf0
--- /dev/null
+++ b/python/requirements_stubgen.txt
@@ -0,0 +1 @@
+pybind11-stubgen==2.5.*