diff --git a/x-pack/plugins/fleet/public/applications/fleet/sections/agent_policy/components/actions_menu.tsx b/x-pack/plugins/fleet/public/applications/fleet/sections/agent_policy/components/actions_menu.tsx
index 6e2dc54470a17..fa4e03c81b656 100644
--- a/x-pack/plugins/fleet/public/applications/fleet/sections/agent_policy/components/actions_menu.tsx
+++ b/x-pack/plugins/fleet/public/applications/fleet/sections/agent_policy/components/actions_menu.tsx
@@ -12,6 +12,7 @@ import { EuiContextMenuItem, EuiPortal } from '@elastic/eui';
 import type { AgentPolicy } from '../../../types';
 import { useAuthz } from '../../../hooks';
 import { AgentEnrollmentFlyout, ContextMenuActions } from '../../../components';
+import { FLEET_SERVER_PACKAGE } from '../../../constants';
 
 import { AgentPolicyYamlFlyout } from './agent_policy_yaml_flyout';
 import { AgentPolicyCopyProvider } from './agent_policy_copy_provider';
@@ -36,6 +37,14 @@ export const AgentPolicyActionMenu = memo<{
       enrollmentFlyoutOpenByDefault
     );
 
+    const isFleetServerPolicy = useMemo(
+      () =>
+        agentPolicy.package_policies?.some(
+          (packagePolicy) => packagePolicy.package?.name === FLEET_SERVER_PACKAGE
+        ),
+      [agentPolicy]
+    );
+
     const [isContextMenuOpen, setIsContextMenuOpen] = useState(false);
 
     const onContextMenuChange = useCallback(
@@ -83,10 +92,17 @@ export const AgentPolicyActionMenu = memo<{
                   }}
                   key="enrollAgents"
                 >
-                  <FormattedMessage
-                    id="xpack.fleet.agentPolicyActionMenu.enrollAgentActionText"
-                    defaultMessage="Add agent"
-                  />
+                  {isFleetServerPolicy ? (
+                    <FormattedMessage
+                      id="xpack.fleet.agentPolicyActionMenu.addFleetServerActionText"
+                      defaultMessage="Add Fleet Server"
+                    />
+                  ) : (
+                    <FormattedMessage
+                      id="xpack.fleet.agentPolicyActionMenu.enrollAgentActionText"
+                      defaultMessage="Add agent"
+                    />
+                  )}
                 </EuiContextMenuItem>,
                 viewPolicyItem,
                 <EuiContextMenuItem
diff --git a/x-pack/plugins/fleet/public/components/agent_enrollment_flyout/index.tsx b/x-pack/plugins/fleet/public/components/agent_enrollment_flyout/index.tsx
index 9cbd8f66fc246..bccda5dfa6276 100644
--- a/x-pack/plugins/fleet/public/components/agent_enrollment_flyout/index.tsx
+++ b/x-pack/plugins/fleet/public/components/agent_enrollment_flyout/index.tsx
@@ -19,10 +19,16 @@ import {
   EuiFlyoutFooter,
   EuiTab,
   EuiTabs,
+  EuiLink,
 } from '@elastic/eui';
 import { FormattedMessage } from '@kbn/i18n-react';
 
-import { useFleetStatus, useAgentEnrollmentFlyoutData, useGetFleetServerHosts } from '../../hooks';
+import {
+  useStartServices,
+  useFleetStatus,
+  useAgentEnrollmentFlyoutData,
+  useGetFleetServerHosts,
+} from '../../hooks';
 import { FLEET_SERVER_PACKAGE } from '../../constants';
 import type { PackagePolicy, AgentPolicy } from '../../types';
 
@@ -54,6 +60,7 @@ export const AgentEnrollmentFlyout: React.FunctionComponent<FlyOutProps> = ({
   const fleetServerHostsRequest = useGetFleetServerHosts();
 
   const fleetStatus = useFleetStatus();
+  const { docLinks } = useStartServices();
   const fleetServerHosts =
     fleetServerHostsRequest.data?.items?.filter((f) => true)?.[0]?.host_urls ?? [];
 
@@ -102,19 +109,50 @@ export const AgentEnrollmentFlyout: React.FunctionComponent<FlyOutProps> = ({
       <EuiFlyoutHeader hasBorder aria-labelledby="FleetAgentEnrollmentFlyoutTitle">
         <EuiTitle size="m">
           <h2 id="FleetAgentEnrollmentFlyoutTitle">
-            <FormattedMessage
-              id="xpack.fleet.agentEnrollment.flyoutTitle"
-              defaultMessage="Add agent"
-            />
+            {isFleetServerPolicySelected ? (
+              <FormattedMessage
+                id="xpack.fleet.agentEnrollment.flyoutFleetServerTitle"
+                defaultMessage="Add Fleet Server"
+              />
+            ) : (
+              <FormattedMessage
+                id="xpack.fleet.agentEnrollment.flyoutTitle"
+                defaultMessage="Add agent"
+              />
+            )}
           </h2>
         </EuiTitle>
         <EuiSpacer size="l" />
-        <EuiText>
-          <FormattedMessage
-            id="xpack.fleet.agentEnrollment.agentDescription"
-            defaultMessage="Add Elastic Agents to your hosts to collect data and send it to the Elastic Stack."
-          />
-        </EuiText>
+        {isFleetServerPolicySelected ? (
+          <EuiText>
+            <FormattedMessage
+              id="xpack.fleet.agentEnrollment.instructionstFleetServer"
+              defaultMessage="A Fleet Server is required before you can enroll agents with Fleet. Follow the instructions below to set up a Fleet Server. For more information, see the {userGuideLink}"
+              values={{
+                userGuideLink: (
+                  <EuiLink
+                    href={docLinks.links.fleet.fleetServerAddFleetServer}
+                    external
+                    target="_blank"
+                  >
+                    <FormattedMessage
+                      id="xpack.fleet.agentEnrollment.setupGuideLink"
+                      defaultMessage="Fleet and Elastic Agent Guide"
+                    />
+                  </EuiLink>
+                ),
+              }}
+            />
+          </EuiText>
+        ) : (
+          <EuiText>
+            <FormattedMessage
+              id="xpack.fleet.agentEnrollment.agentDescription"
+              defaultMessage="Add Elastic Agents to your hosts to collect data and send it to the Elastic Stack."
+            />
+          </EuiText>
+        )}
+
         {selectionType === 'tabs' ? (
           <>
             <EuiSpacer size="l" />