diff --git a/.github/workflows/auto-start-ci.yml b/.github/workflows/auto-start-ci.yml
index 0bc9e7c1c65fc2..cb9318ab4ade9f 100644
--- a/.github/workflows/auto-start-ci.yml
+++ b/.github/workflows/auto-start-ci.yml
@@ -3,12 +3,10 @@ name: Auto Start CI
 
 on:
   schedule:
-    # `schedule` event is used instead of `pull_request` because when a
-    # `pull_requesst` event is triggered on a PR from a fork, GITHUB_TOKEN will
-    # be read-only, and the Action won't have access to any other repository
-    # secrets, which it needs to access Jenkins API. Runs every five minutes
-    # (fastest the scheduler can run). Five minutes is optimistic, it can take
-    # longer to run.
+    # Runs every five minutes (fastest the scheduler can run). Five minutes is
+    # optimistic, it can take longer to run.
+    # To understand why `schedule` is used instead of other events, refer to
+    # ./doc/guides/commit-queue.md
     - cron: "*/5 * * * *"
 
 jobs:
diff --git a/.github/workflows/commit-queue.yml b/.github/workflows/commit-queue.yml
new file mode 100644
index 00000000000000..9db520d5c35a59
--- /dev/null
+++ b/.github/workflows/commit-queue.yml
@@ -0,0 +1,81 @@
+---
+# This action requires the following secrets to be set on the repository:
+#   GH_USER_NAME: GitHub user whose Jenkins and GitHub token are defined below
+#   GH_USER_TOKEN: GitHub user token, to be used by ncu and to push changes
+#   JENKINS_TOKEN: Jenkins token, to be used to check CI status
+
+name: Commit Queue
+
+on:
+  # `schedule` event is used instead of `pull_request` because when a
+  # `pull_request` event is triggered on a PR from a fork, GITHUB_TOKEN will
+  # be read-only, and the Action won't have access to any other repository
+  # secrets, which it needs to access Jenkins API.
+  schedule:
+    - cron: "*/5 * * * *"
+
+jobs:
+  commitQueue:
+    if: github.repository == 'nodejs/node'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          # A personal token is required because pushing with GITHUB_TOKEN will
+          # prevent commits from running CI after they land on master. It needs
+          # to be set here because `checkout` configures GitHub authentication
+          # for push as well.
+          token: ${{ secrets.GH_USER_TOKEN }}
+
+      # Install dependencies
+      - name: Install Node.js
+        uses: actions/setup-node@v2-beta
+        with:
+          node-version: '12'
+      - name: Install dependencies
+        run: |
+          sudo apt-get install jq -y
+          # TODO(mmarchini): install from npm after next ncu release is out
+          npm install -g 'https://github.com/mmarchini/node-core-utils#commit-queue-branch'
+          # npm install -g node-core-utils
+
+      - name: Set variables
+        run: |
+          echo "::set-env name=REPOSITORY::$(echo ${{ github.repository }} | cut -d/ -f2)"
+          echo "::set-env name=OWNER::${{ github.repository_owner }}"
+
+      - name: Get Pull Requests
+        uses: octokit/graphql-action@v2.x
+        id: get_mergable_pull_requests
+        with:
+          query: |
+            query release($owner:String!,$repo:String!, $base_ref:String!) {
+              repository(owner:$owner, name:$repo) {
+                pullRequests(baseRefName: $base_ref, labels: ["commit-queue"], states: OPEN, last: 100) {
+                  nodes {
+                    number
+                  }
+                }
+              }
+            }
+          owner: ${{ env.OWNER }}
+          repo: ${{ env.REPOSITORY }}
+          # Commit queue is only enabled for the default branch on the repository
+          # TODO(mmarchini): get the default branch programmatically instead of
+          # assuming `master`
+          base_ref: "master"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Configure node-core-utils
+        run: |
+          ncu-config set branch master
+          ncu-config set upstream origin
+          ncu-config set username "${{ secrets.GH_USER_NAME }}"
+          ncu-config set token "${{ secrets.GH_USER_TOKEN }}"
+          ncu-config set jenkins_token "${{ secrets.JENKINS_TOKEN }}"
+          ncu-config set repo "${{ env.REPOSITORY }}"
+          ncu-config set owner "${{ env.OWNER }}"
+
+      - name: Start the commit queue
+        run: ./tools/actions/commit-queue.sh ${{ env.OWNER }} ${{ env.REPOSITORY }} ${{ secrets.GITHUB_TOKEN }} $(echo '${{ steps.get_mergable_pull_requests.outputs.data }}' | jq '.repository.pullRequests.nodes | map(.number) | .[]')
diff --git a/doc/guides/commit-queue.md b/doc/guides/commit-queue.md
new file mode 100644
index 00000000000000..7256286846970e
--- /dev/null
+++ b/doc/guides/commit-queue.md
@@ -0,0 +1,115 @@
+# Commit Queue
+
+> Stability: 1 - Experimental
+
+*tl;dr: You can land Pull Requests by adding the `commit-queue` label to it.*
+
+Commit Queue is an experimental feature for the project which simplifies the
+landing process by automating it via GitHub Actions. With it, Collaborators are
+able to land Pull Requests by adding the `commit-queue` label to a PR. All
+checks will run via node-core-utils, and if the Pull Request is ready to land,
+the Action will rebase it and push to master.
+
+This document gives an overview on how the Commit Queue works, as well as
+implementation details, reasoning for design choices, and current limitations.
+
+## Overview
+
+From a high-level, the Commit Queue works as follow:
+
+1. Collaborators will add `commit-queue` label to Pull Reuqests ready to land
+2. Every five minutes the queue will do the following for each Pull Request
+   with the label:
+   1. Check if the PR also has a `request-ci` label (if it has, skip this PR
+      since it's pending a CI run)
+   2. Check if the last Jenkins CI is finished running (if it is not, skip this
+      PR)
+   3. Remove the `commit-queue` label
+   4. Run `git node land <pr>`
+   5. If it fails:
+      1. Abort `git node land` session
+      2. Add `commit-queue-failed` label to the PR
+      3. Leave a comment on the PR with the output from `git node land`
+      4. Skip next steps, go to next PR in the queue
+   6. If it succeeds:
+      1. Push the changes to nodejs/node
+      2. Leave a comment on the PR with `Landed in ...`
+      3. Close the PR
+      4. Go to next PR in the queue
+
+## Current Limitations
+
+The Commit Queue feature is still in early stages, and as such it might not
+work for more complex Pull Requests. These are the currently known limitations
+of the commit queue:
+
+1. The Pull Request must have only one commit
+2. A CI must've ran and succeeded since the last change on the PR
+3. A Collaborator must have approved the PR since the last change
+4. Only Jenkins CI is checked (Actions, V8 CI and CITGM are ignored)
+
+## Implementation
+
+The [action](/.github/workflows/commit_queue.yml) will run on scheduler
+events every five minutes. Five minutes is the smallest number accepted by
+the scheduler. The scheduler is not guaranteed to run every five minutes, it
+might take longer between runs.
+
+Using the scheduler is preferrable over using pull_request_target for two
+reasons:
+
+1. if two Commit Queue Actions execution overlap, there's a high-risk that
+   the last one to finish will fail because the local branch will be out of
+   sync with the remote after the first Action pushes. `issue_comment` event
+   has the same limitation.
+2. `pull_request_target` will only run if the Action exists on the base commit
+    of a pull request, and it will run the Action version present on that
+    commit, meaning we wouldn't be able to use it for already opened PRs
+    without rebasing them first.
+
+`node-core-utils` is configured with a personal token and
+a Jenkins token from
+[@nodejs-github-bot](https://github.com/nodejs/github-bot).
+`octokit/graphql-action` is used to fetch all Pull Requests with the
+`commit-queue` label. The output is a JSON payload, so `jq` is used to turn
+that into a list of PR ids we can pass as arguments to
+[`commit-queue.sh`](./tools/actions/commit-queue.sh).
+
+> The personal token only needs permission for public repositories and to read
+> profiles, we can use the GITHUB_TOKEN for write operations. Jenkins token is
+> required to check CI status.
+
+`commit-queue.sh` receives the following positional arguments:
+
+1. The repository owner
+2. The repository name
+3. The Action GITHUB_TOKEN
+4. Every positional argument starting at this one will be a Pull Reuqest ID of
+    a Pull Request with commit-queue set.
+
+The script will iterate over the pull requests. `ncu-ci` is used to check if
+the last CI is still pending, and calls to the GitHub API are used to check if
+the PR is waiting for CI to start (`request-ci` label). The PR is skipped if CI
+is pending. No other CI validation is done here since `git node land` will fail
+if the last CI failed.
+
+The script removes the `commit-queue` label. It then runs `git node land`,
+forwarding stdout and stderr to a file. If any errors happens,
+`git node land --abort` is run, and then a `commit-queue-failed` label is added
+to the PR, as well as a comment with the output of `git node land`.
+
+If no errors happen during `git node land`, the script will use the
+`GITHUB_TOKEN` to push the changes to `master`, and then will leave a
+`Landed in ...` comment in the PR, and then will close it. Iteration continues
+until all PRs have done the steps above.
+
+## Reverting Broken Commits
+
+Reverting broken commits is done manually by Collaborators, just like when
+commits are landed manually via `git node land`. An easy way to revert is a
+good feature for the project, but is not explicitly required for the Commit
+Queue to work because the Action lands PRs just like collaborators do today. If
+once we start using the Commit Queue we notice that the number of required
+reverts increases drastically, we can pause the queue until a Revert Queue is
+implemented, but until then we can enable the Commit Queue and then work on a
+Revert Queue as a follow up.
diff --git a/tools/actions/commit-queue.sh b/tools/actions/commit-queue.sh
new file mode 100755
index 00000000000000..f572089e2d5fca
--- /dev/null
+++ b/tools/actions/commit-queue.sh
@@ -0,0 +1,85 @@
+#!/bin/bash
+
+set -xe
+
+OWNER=$1
+REPOSITORY=$2
+GITHUB_TOKEN=$3
+shift 3
+
+API_URL=https://api.github.com
+COMMIT_QUEUE_LABEL='commit-queue'
+COMMIT_QUEUE_FAILED_LABEL='commit-queue-failed'
+
+function issueUrl() {
+  echo "$API_URL/repos/${OWNER}/${REPOSITORY}/issues/${1}"
+}
+
+function labelsUrl() {
+  echo "$(issueUrl "${1}")/labels"
+}
+
+function commentsUrl() {
+  echo "$(issueUrl "${1}")/comments"
+}
+
+function gitHubCurl() {
+  url=$1
+  method=$2
+  shift 2
+
+  curl -fsL --request "$method" \
+       --url "$url" \
+       --header "authorization: Bearer ${GITHUB_TOKEN}" \
+       --header 'content-type: application/json' "$@"
+}
+
+
+# TODO(mmarchini): should this be set with whoever added the label for each PR?
+git config --local user.email "github-bot@iojs.org"
+git config --local user.name "Node.js GitHub Bot"
+
+for pr in "$@"; do
+  # Skip PR if CI was requested
+  if gitHubCurl "$(labelsUrl "$pr")" GET | jq -e 'map(.name) | index("request-ci")'; then
+    echo "pr ${pr} skipped, waiting for CI to start"
+    continue
+  fi
+
+  # Skip PR if CI is still running
+  if ncu-ci url "https://github.com/${OWNER}/${REPOSITORY}/pull/${pr}" 2>&1 | grep "^Result *PENDING"; then
+    echo "pr ${pr} skipped, CI still running"
+    continue
+  fi
+
+  # Delete the commit queue label
+  gitHubCurl "$(labelsUrl "$pr")"/"$COMMIT_QUEUE_LABEL" DELETE
+
+  git node land --yes "$pr" >output 2>&1 || echo "Failed to land #${pr}"
+  # cat here otherwise we'll be supressing the output of git node land
+  cat output
+
+  # TODO(mmarchini): workaround for ncu not returning the expected status code,
+  # if the "Landed in..." message was not on the output we assume land failed
+  if ! tail -n 10 output | grep '. Post "Landed in .*/pull/'"${pr}"; then
+    gitHubCurl "$(labelsUrl "$pr")" POST --data '{"labels": ["'"${COMMIT_QUEUE_FAILED_LABEL}"'"]}'
+
+    jq -n --arg content "<details><summary>Commit Queue failed</summary><pre>$(cat output)</pre></details>" '{body: $content}' > output.json
+    cat output.json
+
+    gitHubCurl "$(commentsUrl "$pr")" POST --data @output.json
+
+    rm output output.json
+    # If `git node land --abort` fails, we're in unknown state. Better to stop
+    # the script here, current PR was removed from the queue so it shouldn't
+    # interfer again in the future
+    git node land --abort --yes
+  else
+    rm output
+    git push origin master
+
+    gitHubCurl "$(commentsUrl "$pr")" POST --data '{"body": "Landed in '"$(git rev-parse HEAD)"'"}'
+
+    gitHubCurl "$(issueUrl "$pr")" PATCH --data '{"state": "closed"}'
+  fi
+done