diff --git a/Documentation/userspace-api/media/v4l/meta-formats.rst b/Documentation/userspace-api/media/v4l/meta-formats.rst
index fff25357fe860..b2201d1524eb6 100644
--- a/Documentation/userspace-api/media/v4l/meta-formats.rst
+++ b/Documentation/userspace-api/media/v4l/meta-formats.rst
@@ -15,6 +15,7 @@ These formats are used for the :ref:`metadata` interface only.
     pixfmt-meta-d4xx
     pixfmt-meta-intel-ipu3
     pixfmt-meta-rkisp1
+    pixfmt-meta-sensor-data
     pixfmt-meta-uvc
     pixfmt-meta-vsp1-hgo
     pixfmt-meta-vsp1-hgt
diff --git a/Documentation/userspace-api/media/v4l/pixfmt-meta-sensor-data.rst b/Documentation/userspace-api/media/v4l/pixfmt-meta-sensor-data.rst
new file mode 100644
index 0000000000000..cc3929f595389
--- /dev/null
+++ b/Documentation/userspace-api/media/v4l/pixfmt-meta-sensor-data.rst
@@ -0,0 +1,24 @@
+.. SPDX-License-Identifier: GFDL-1.1-no-invariants-or-later
+
+.. _v4l2-meta-fmt-sensor-data:
+
+***********************************
+V4L2_META_FMT_SENSOR_DATA  ('SENS')
+***********************************
+
+Sensor Ancillary Metadata
+
+Description
+===========
+
+This format describes ancillary data generated by a camera sensor and
+transmitted over a stream on the camera bus. Most sensor vendors have their
+own custom format for this ancillary data. Some vendors follow a generic
+CSI-2/SMIA embedded data format as described in the `CSI-2 specification.
+<https://mipi.org/specifications/csi-2>`_
+
+The size of the embedded buffer is defined as a single line with a pixel width
+specified in bytes and obtained by a call to the :c:type:`VIDIOC_SUBDEV_G_FMT`
+ioctl on the sensor sub-device. Note that this size is fixed and cannot be
+modified with a call to :c:type:`VIDIOC_SUBDEV_S_FMT`.
+
diff --git a/Documentation/userspace-api/media/v4l/subdev-formats.rst b/Documentation/userspace-api/media/v4l/subdev-formats.rst
index 7f16cbe46e5c2..99e270bbdd223 100644
--- a/Documentation/userspace-api/media/v4l/subdev-formats.rst
+++ b/Documentation/userspace-api/media/v4l/subdev-formats.rst
@@ -7926,3 +7926,32 @@ The following table lists the existing metadata formats.
 	both sides of the link and the bus format is a fixed
 	metadata format that is not configurable from userspace.
 	Width and height will be set to 0 for this format.
+
+.. _v4l2-mbus-sensor-data:
+
+Sensor Ancillary Metadata Formats
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This section lists ancillary data generated by a camera sensor and
+transmitted over a stream on the camera bus.
+
+The following table lists the existing sensor ancillary metadata formats:
+
+.. _v4l2-mbus-pixelcode-sensor-metadata:
+
+.. tabularcolumns:: |p{8.0cm}|p{1.4cm}|p{7.7cm}|
+
+.. flat-table:: Sensor ancillary metadata formats
+    :header-rows:  1
+    :stub-columns: 0
+
+    * - Identifier
+      - Code
+      - Comments
+    * .. _MEDIA_BUS_FMT_CUSTOM_SENSOR_DATA:
+
+      - MEDIA_BUS_FMT_CUSTOM_SENSOR_DATA
+      - 0x7002
+      - Sensor vendor specific ancillary metadata. Some vendors follow a generic
+        CSI-2/SMIA embedded data format as described in the `CSI-2 specification.
+	<https://mipi.org/specifications/csi-2>`_
diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c
index f0f6906a879de..83288a00f28e4 100644
--- a/drivers/media/v4l2-core/v4l2-ioctl.c
+++ b/drivers/media/v4l2-core/v4l2-ioctl.c
@@ -1403,6 +1403,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
 	case V4L2_META_FMT_UVC:		descr = "UVC Payload Header Metadata"; break;
 	case V4L2_META_FMT_D4XX:	descr = "Intel D4xx UVC Metadata"; break;
 	case V4L2_META_FMT_VIVID:       descr = "Vivid Metadata"; break;
+	case V4L2_META_FMT_SENSOR_DATA:	descr = "Sensor Ancillary Metadata"; break;
 
 	default:
 		/* Compressed formats */
diff --git a/include/uapi/linux/media-bus-format.h b/include/uapi/linux/media-bus-format.h
index 2ce3d891d3447..726557120fc03 100644
--- a/include/uapi/linux/media-bus-format.h
+++ b/include/uapi/linux/media-bus-format.h
@@ -164,4 +164,7 @@
  */
 #define MEDIA_BUS_FMT_METADATA_FIXED		0x7001
 
+/* Sensor ancillary metadata formats - next is 0x7003 */
+#define MEDIA_BUS_FMT_CUSTOM_SENSOR_DATA	0x7002
+
 #endif /* __LINUX_MEDIA_BUS_FORMAT_H */
diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
index 927075fa9099e..d1ef094090a3b 100644
--- a/include/uapi/linux/videodev2.h
+++ b/include/uapi/linux/videodev2.h
@@ -767,6 +767,7 @@ struct v4l2_pix_format {
 #define V4L2_META_FMT_UVC         v4l2_fourcc('U', 'V', 'C', 'H') /* UVC Payload Header metadata */
 #define V4L2_META_FMT_D4XX        v4l2_fourcc('D', '4', 'X', 'X') /* D4XX Payload Header metadata */
 #define V4L2_META_FMT_VIVID	  v4l2_fourcc('V', 'I', 'V', 'D') /* Vivid Metadata */
+#define V4L2_META_FMT_SENSOR_DATA v4l2_fourcc('S', 'E', 'N', 'S') /* Sensor Ancillary metadata */
 
 /* priv field value to indicates that subsequent fields are valid. */
 #define V4L2_PIX_FMT_PRIV_MAGIC		0xfeedcafe
