diff --git a/connector/connect/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala b/connector/connect/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala
index 9c4299d652fd..041ab5447d77 100644
--- a/connector/connect/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala
+++ b/connector/connect/src/main/scala/org/apache/spark/sql/connect/planner/SparkConnectPlanner.scala
@@ -277,6 +277,9 @@ class SparkConnectPlanner(session: SparkSession) {
     val (rows, structType) = ArrowConverters.fromBatchWithSchemaIterator(
       Iterator(rel.getData.toByteArray),
       TaskContext.get())
+    if (structType == null) {
+      throw InvalidPlanInput(s"Input data for LocalRelation does not produce a schema.")
+    }
     val attributes = structType.toAttributes
     val proj = UnsafeProjection.create(attributes, attributes)
     new logical.LocalRelation(attributes, rows.map(r => proj(r).copy()).toSeq)
diff --git a/python/pyspark/sql/connect/plan.py b/python/pyspark/sql/connect/plan.py
index 9a22d6ea38ec..c6eeea957aaa 100644
--- a/python/pyspark/sql/connect/plan.py
+++ b/python/pyspark/sql/connect/plan.py
@@ -25,7 +25,8 @@
     TYPE_CHECKING,
     Mapping,
 )
-
+import pandas
+import pyarrow as pa
 import pyspark.sql.connect.proto as proto
 from pyspark.sql.connect.column import (
     Column,
@@ -177,6 +178,35 @@ def _repr_html_(self) -> str:
         """
 
 
+class LocalRelation(LogicalPlan):
+    """Creates a LocalRelation plan object based on a Pandas DataFrame."""
+
+    def __init__(self, pdf: "pandas.DataFrame") -> None:
+        super().__init__(None)
+        self._pdf = pdf
+
+    def plan(self, session: "SparkConnectClient") -> proto.Relation:
+        sink = pa.BufferOutputStream()
+        table = pa.Table.from_pandas(self._pdf)
+        with pa.ipc.new_stream(sink, table.schema) as writer:
+            for b in table.to_batches():
+                writer.write_batch(b)
+
+        plan = proto.Relation()
+        plan.local_relation.data = sink.getvalue().to_pybytes()
+        return plan
+
+    def print(self, indent: int = 0) -> str:
+        return f"{' ' * indent}<LocalRelation>\n"
+
+    def _repr_html_(self) -> str:
+        return """
+        <ul>
+            <li>LocalRelation</li>
+        </ul>
+        """
+
+
 class ShowString(LogicalPlan):
     def __init__(
         self, child: Optional["LogicalPlan"], numRows: int, truncate: int, vertical: bool
diff --git a/python/pyspark/sql/connect/session.py b/python/pyspark/sql/connect/session.py
index 92f58140eacc..c9b76cf47f99 100644
--- a/python/pyspark/sql/connect/session.py
+++ b/python/pyspark/sql/connect/session.py
@@ -17,6 +17,7 @@
 
 from threading import RLock
 from typing import Optional, Any, Union, Dict, cast, overload
+import pandas as pd
 
 import pyspark.sql.types
 from pyspark.sql.connect.client import SparkConnectClient
@@ -24,6 +25,7 @@
 from pyspark.sql.connect.plan import SQL, Range
 from pyspark.sql.connect.readwriter import DataFrameReader
 from pyspark.sql.utils import to_str
+from . import plan
 from ._typing import OptionalPrimitiveType
 
 
@@ -205,6 +207,34 @@ def __init__(self, connectionString: str, userId: Optional[str] = None):
         # Create the reader
         self.read = DataFrameReader(self)
 
+    def createDataFrame(self, data: "pd.DataFrame") -> "DataFrame":
+        """
+        Creates a :class:`DataFrame` from a :class:`pandas.DataFrame`.
+
+        .. versionadded:: 3.4.0
+
+
+        Parameters
+        ----------
+        data : :class:`pandas.DataFrame`
+
+        Returns
+        -------
+        :class:`DataFrame`
+
+        Examples
+        --------
+        >>> import pandas
+        >>> pdf = pandas.DataFrame({"a": [1, 2, 3], "b": ["a", "b", "c"]})
+        >>> self.connect.createDataFrame(pdf).collect()
+        [Row(a=1, b='a'), Row(a=2, b='b'), Row(a=3, b='c')]
+
+        """
+        assert data is not None
+        if len(data) == 0:
+            raise ValueError("Input data cannot be empty")
+        return DataFrame.withPlan(plan.LocalRelation(data), self)
+
     @property
     def client(self) -> "SparkConnectClient":
         """
diff --git a/python/pyspark/sql/tests/connect/test_connect_basic.py b/python/pyspark/sql/tests/connect/test_connect_basic.py
index 150bbdb65ef1..21039ee59a04 100644
--- a/python/pyspark/sql/tests/connect/test_connect_basic.py
+++ b/python/pyspark/sql/tests/connect/test_connect_basic.py
@@ -131,6 +131,20 @@ def conv_udf(x) -> str:
         result = df.select(u(df.id)).toPandas()
         self.assertIsNotNone(result)
 
+    def test_with_local_data(self):
+        """SPARK-41114: Test creating a dataframe using local data"""
+        pdf = pandas.DataFrame({"a": [1, 2, 3], "b": ["a", "b", "c"]})
+        df = self.connect.createDataFrame(pdf)
+        rows = df.filter(df.a == lit(3)).collect()
+        self.assertTrue(len(rows) == 1)
+        self.assertEqual(rows[0][0], 3)
+        self.assertEqual(rows[0][1], "c")
+
+        # Check correct behavior for empty DataFrame
+        pdf = pandas.DataFrame({"a": []})
+        with self.assertRaises(ValueError):
+            self.connect.createDataFrame(pdf)
+
     def test_simple_explain_string(self):
         df = self.connect.read.table(self.tbl_name).limit(10)
         result = df.explain()