diff --git a/.github/workflows/r_docs.yml b/.github/workflows/r_docs.yml
new file mode 100644
index 00000000000..37d6192932e
--- /dev/null
+++ b/.github/workflows/r_docs.yml
@@ -0,0 +1,45 @@
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+
+name: R documentation
+
+on:
+  push:
+    paths:
+      - '.github/workflows/r_docs.yml'
+      - 'r/R/*.R'
+    branches-ignore:
+      - master
+
+jobs:
+  roxygen:
+    name: Build and Push
+    runs-on: ubuntu-latest
+    if: github.repository != 'apache/arrow'
+    steps:
+      - uses: actions/checkout@v2
+      - uses: r-lib/actions/setup-r@v1
+      - name: Install dependencies
+        run: Rscript -e 'source("ci/etc/rprofile"); install.packages(c("remotes", "roxygen2")); remotes::install_deps("r")'
+      - name: Render docs
+        run: Rscript -e 'roxygen2::roxygenize("r")'
+      - name: Commit results
+        run: |
+          git config user.name "$(git log -1 --pretty=format:%an)"
+          git config user.email "$(git log -1 --pretty=format:%ae)"
+          git commit -a -m 'Update docs [automated commit]' || echo "No changes to commit"
+          git push origin ${{ github.ref }} || echo "No changes to commit"
diff --git a/r/R/message.R b/r/R/message.R
index 51e0f965e27..82b6e2b95d5 100644
--- a/r/R/message.R
+++ b/r/R/message.R
@@ -17,7 +17,7 @@
 
 #' @include arrow-package.R
 
-#' @title class arrow::Message
+#' @title Message
 #'
 #' @usage NULL
 #' @format NULL
@@ -25,7 +25,13 @@
 #'
 #' @section Methods:
 #'
-#' TODO
+#' * `$Equals(other)`: Test for equality
+#' * `$body_length()`:
+#' * `$Verify()`:
+#' @section Active bindings:
+#' * `$type`:
+#' * `$metadata`:
+#' * `$body`:
 #'
 #' @rdname Message
 #' @name Message
@@ -74,7 +80,7 @@ MessageReader$create <- function(stream) {
 #' Read a Message from a stream
 #'
 #' @param stream an InputStream
-#'
+#' @return A [Message]
 #' @export
 read_message <- function(stream) {
   UseMethod("read_message")
diff --git a/r/man/Message.Rd b/r/man/Message.Rd
index 84dd90a6459..4e3909ed27d 100644
--- a/r/man/Message.Rd
+++ b/r/man/Message.Rd
@@ -3,13 +3,25 @@
 \docType{class}
 \name{Message}
 \alias{Message}
-\title{class arrow::Message}
+\title{Message}
 \description{
-class arrow::Message
+Message
 }
 \section{Methods}{
 
+\itemize{
+\item \verb{$Equals(other)}: Test for equality
+\item \verb{$body_length()}:
+\item \verb{$Verify()}:
+}
+}
 
-TODO
+\section{Active bindings}{
+
+\itemize{
+\item \verb{$type}:
+\item \verb{$metadata}:
+\item \verb{$body}:
+}
 }
 
diff --git a/r/man/read_message.Rd b/r/man/read_message.Rd
index 444c76c862f..7339dba3a34 100644
--- a/r/man/read_message.Rd
+++ b/r/man/read_message.Rd
@@ -9,6 +9,9 @@ read_message(stream)
 \arguments{
 \item{stream}{an InputStream}
 }
+\value{
+A \link{Message}
+}
 \description{
 Read a Message from a stream
 }