diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index dc9fbb2ba787..3e9957dc6772 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -815,6 +815,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
       TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick());
       TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
       TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick());
+      TERN_(BUFFER_MONITORING, queue.auto_report_buffer_statistics());
     }
   #endif
 
diff --git a/Marlin/src/gcode/queue.h b/Marlin/src/gcode/queue.h
index ea99ce7a2d54..f4898556e244 100644
--- a/Marlin/src/gcode/queue.h
+++ b/Marlin/src/gcode/queue.h
@@ -192,6 +192,45 @@ class GCodeQueue {
    */
   static void flush_and_request_resend(const serial_index_t serial_ind);
 
+  #if ENABLED(BUFFER_MONITORING)
+   /**
+    * Track buffer underruns
+    */
+    static uint32_t command_buffer_underruns;
+    static bool command_buffer_empty;
+    static millis_t max_command_buffer_empty_duration;
+    static millis_t command_buffer_empty_at;
+
+    static uint32_t planner_buffer_underruns;
+    static bool planner_buffer_empty;
+    static millis_t max_planner_buffer_empty_duration;
+    static millis_t planner_buffer_empty_at;
+
+    /**
+     * Report buffer statistics to the host to be able to detect buffer underruns
+     *
+     * Returns "M576 " followed by:
+     *  P<uint>   Planner space remaining
+     *  B<uint>   Command buffer space remaining
+     *  PU<uint>  Number of planner buffer underruns since last report
+     *  PD<uint>  Max time in ms the planner buffer was empty since last report
+     *  BU<uint>  Number of command buffer underruns since last report
+     *  BD<uint>  Max time in ms the command buffer was empty since last report
+     */
+    static void report_buffer_statistics();
+
+    static uint8_t auto_buffer_report_interval;
+    static millis_t next_buffer_report_ms;
+    static void auto_report_buffer_statistics();
+    static inline void set_auto_report_interval(uint8_t v) {
+      NOMORE(v, 60);
+      auto_buffer_report_interval = v;
+      next_buffer_report_ms = millis() + 1000UL * v;
+    }
+  #endif
+
+private:
+
   /**
    * (Re)Set the current line number for the last received command
    */