diff --git a/modules/godot_physics_3d/godot_physics_server_3d.cpp b/modules/godot_physics_3d/godot_physics_server_3d.cpp
index 35aa538ef51..7fb7fa7c44c 100644
--- a/modules/godot_physics_3d/godot_physics_server_3d.cpp
+++ b/modules/godot_physics_3d/godot_physics_server_3d.cpp
@@ -656,6 +656,13 @@ uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const {
 	return 0;
 }
 
+AABB GodotPhysicsServer3D::body_get_aabb(RID p_body, int p_shape) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_NULL_V(body, AABB());
+
+	return body->get_shape_aabb(p_shape);
+}
+
 void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
 	GodotBody3D *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_NULL(body);
diff --git a/modules/godot_physics_3d/godot_physics_server_3d.h b/modules/godot_physics_3d/godot_physics_server_3d.h
index 94003a7087f..b8f2cf8ac93 100644
--- a/modules/godot_physics_3d/godot_physics_server_3d.h
+++ b/modules/godot_physics_3d/godot_physics_server_3d.h
@@ -201,6 +201,8 @@ public:
 	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
 	virtual uint32_t body_get_user_flags(RID p_body) const override;
 
+	virtual AABB body_get_aabb(RID p_body, int p_shape) const override;
+
 	virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override;
 	virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override;
 
diff --git a/modules/jolt_physics/jolt_physics_server_3d.cpp b/modules/jolt_physics/jolt_physics_server_3d.cpp
index d126f8bde7b..338c2678c8f 100644
--- a/modules/jolt_physics/jolt_physics_server_3d.cpp
+++ b/modules/jolt_physics/jolt_physics_server_3d.cpp
@@ -700,6 +700,18 @@ uint32_t JoltPhysicsServer3D::body_get_user_flags(RID p_body) const {
 	return 0;
 }
 
+AABB JoltPhysicsServer3D::body_get_aabb(RID p_body, int p_shape) const {
+	JoltBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_NULL_V(body, AABB());
+
+	// Unlike Godot Physics, JoltBody3D::get_aabb() does not accept an index. Instead, it combines
+	// all of its shapes' AABBs into a single AABB. For parity, we manually retrieve and transform a
+	// single shape here.
+	//
+	// TODO: Check that this behaves as expected (not familiar with JoltPhysics).
+	return body->get_transform_scaled().xform(body->get_shape(p_shape)->get_aabb());
+}
+
 void JoltPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
 	JoltBody3D *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_NULL(body);
diff --git a/modules/jolt_physics/jolt_physics_server_3d.h b/modules/jolt_physics/jolt_physics_server_3d.h
index 7dac7610f71..481c97fd4f2 100644
--- a/modules/jolt_physics/jolt_physics_server_3d.h
+++ b/modules/jolt_physics/jolt_physics_server_3d.h
@@ -246,6 +246,8 @@ public:
 	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
 	virtual uint32_t body_get_user_flags(RID p_body) const override;
 
+	virtual AABB body_get_aabb(RID p_body, int p_shape) const override;
+
 	virtual void body_set_param(RID p_body, PhysicsServer3D::BodyParameter p_param, const Variant &p_value) override;
 	virtual Variant body_get_param(RID p_body, PhysicsServer3D::BodyParameter p_param) const override;
 
diff --git a/scene/3d/physics/collision_object_3d.cpp b/scene/3d/physics/collision_object_3d.cpp
index 653cbd1e5bd..b937a027d12 100644
--- a/scene/3d/physics/collision_object_3d.cpp
+++ b/scene/3d/physics/collision_object_3d.cpp
@@ -30,6 +30,7 @@
 
 #include "collision_object_3d.h"
 
+#include "collision_shape_3d.h"
 #include "scene/resources/3d/shape_3d.h"
 
 void CollisionObject3D::_notification(int p_what) {
@@ -490,6 +491,7 @@ void CollisionObject3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("shape_owner_remove_shape", "owner_id", "shape_id"), &CollisionObject3D::shape_owner_remove_shape);
 	ClassDB::bind_method(D_METHOD("shape_owner_clear_shapes", "owner_id"), &CollisionObject3D::shape_owner_clear_shapes);
 	ClassDB::bind_method(D_METHOD("shape_find_owner", "shape_index"), &CollisionObject3D::shape_find_owner);
+	ClassDB::bind_method(D_METHOD("shape_owner_get_shape_aabb", "owner_id", "shape_id"), &CollisionObject3D::shape_owner_get_shape_aabb);
 
 	GDVIRTUAL_BIND(_input_event, "camera", "event", "event_position", "normal", "shape_idx");
 	GDVIRTUAL_BIND(_mouse_enter);
@@ -649,6 +651,13 @@ int CollisionObject3D::shape_owner_get_shape_index(uint32_t p_owner, int p_shape
 	return shapes[p_owner].shapes[p_shape].index;
 }
 
+AABB CollisionObject3D::shape_owner_get_shape_aabb(uint32_t p_owner, int p_shape) const {
+	ERR_FAIL_COND_V(!shapes.has(p_owner), AABB());
+	ERR_FAIL_INDEX_V(p_shape, shapes[p_owner].shapes.size(), AABB());
+
+	return PhysicsServer3D::get_singleton()->body_get_aabb(rid, shapes[p_owner].shapes[p_shape].index);
+}
+
 void CollisionObject3D::shape_owner_remove_shape(uint32_t p_owner, int p_shape) {
 	ERR_FAIL_NULL(RenderingServer::get_singleton());
 	ERR_FAIL_COND(!shapes.has(p_owner));
diff --git a/scene/3d/physics/collision_object_3d.h b/scene/3d/physics/collision_object_3d.h
index b51423f0215..27d6a37af5f 100644
--- a/scene/3d/physics/collision_object_3d.h
+++ b/scene/3d/physics/collision_object_3d.h
@@ -159,6 +159,7 @@ public:
 	int shape_owner_get_shape_count(uint32_t p_owner) const;
 	Ref<Shape3D> shape_owner_get_shape(uint32_t p_owner, int p_shape) const;
 	int shape_owner_get_shape_index(uint32_t p_owner, int p_shape) const;
+	AABB shape_owner_get_shape_aabb(uint32_t p_owner, int p_shape) const;
 
 	void shape_owner_remove_shape(uint32_t p_owner, int p_shape);
 	void shape_owner_clear_shapes(uint32_t p_owner);
diff --git a/servers/extensions/physics_server_3d_extension.h b/servers/extensions/physics_server_3d_extension.h
index aba124ab9cd..8bb79662745 100644
--- a/servers/extensions/physics_server_3d_extension.h
+++ b/servers/extensions/physics_server_3d_extension.h
@@ -324,6 +324,8 @@ public:
 	EXBIND2(body_set_user_flags, RID, uint32_t)
 	EXBIND1RC(uint32_t, body_get_user_flags, RID)
 
+	EXBIND2RC(AABB, body_get_aabb, RID, int)
+
 	EXBIND3(body_set_param, RID, BodyParameter, const Variant &)
 	EXBIND2RC(Variant, body_get_param, RID, BodyParameter)
 
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index f85ce55d991..80e74142489 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -770,6 +770,8 @@ void PhysicsServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("body_set_collision_priority", "body", "priority"), &PhysicsServer3D::body_set_collision_priority);
 	ClassDB::bind_method(D_METHOD("body_get_collision_priority", "body"), &PhysicsServer3D::body_get_collision_priority);
 
+	ClassDB::bind_method(D_METHOD("body_get_aabb", "body", "shape"), &PhysicsServer3D::body_get_aabb);
+
 	ClassDB::bind_method(D_METHOD("body_add_shape", "body", "shape", "transform", "disabled"), &PhysicsServer3D::body_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
 	ClassDB::bind_method(D_METHOD("body_set_shape", "body", "shape_idx", "shape"), &PhysicsServer3D::body_set_shape);
 	ClassDB::bind_method(D_METHOD("body_set_shape_transform", "body", "shape_idx", "transform"), &PhysicsServer3D::body_set_shape_transform);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 61e62aed148..76c3c804636 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -432,6 +432,8 @@ public:
 	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0;
 	virtual uint32_t body_get_user_flags(RID p_body) const = 0;
 
+	virtual AABB body_get_aabb(RID p_body, int p_shape) const = 0;
+
 	// common body variables
 	enum BodyParameter {
 		BODY_PARAM_BOUNCE,
diff --git a/servers/physics_server_3d_dummy.h b/servers/physics_server_3d_dummy.h
index 209a541fea0..e57bfb10196 100644
--- a/servers/physics_server_3d_dummy.h
+++ b/servers/physics_server_3d_dummy.h
@@ -250,6 +250,8 @@ public:
 	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override {}
 	virtual uint32_t body_get_user_flags(RID p_body) const override { return 0; }
 
+	virtual AABB body_get_aabb(RID p_body, int p_shape) const override { return AABB(); }
+
 	virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override {}
 	virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override { return Variant(); }
 
diff --git a/servers/physics_server_3d_wrap_mt.h b/servers/physics_server_3d_wrap_mt.h
index 2fd39546a59..a7dcd3a8fe6 100644
--- a/servers/physics_server_3d_wrap_mt.h
+++ b/servers/physics_server_3d_wrap_mt.h
@@ -210,6 +210,8 @@ public:
 	FUNC2(body_set_user_flags, RID, uint32_t);
 	FUNC1RC(uint32_t, body_get_user_flags, RID);
 
+	FUNC2RC(AABB, body_get_aabb, RID, int);
+
 	FUNC3(body_set_param, RID, BodyParameter, const Variant &);
 	FUNC2RC(Variant, body_get_param, RID, BodyParameter);