diff --git a/cpp/src/arrow/compute/exec/asof_join_node.cc b/cpp/src/arrow/compute/exec/asof_join_node.cc
index e262a254a2e..28765567514 100644
--- a/cpp/src/arrow/compute/exec/asof_join_node.cc
+++ b/cpp/src/arrow/compute/exec/asof_join_node.cc
@@ -39,6 +39,7 @@
 #include "arrow/result.h"
 #include "arrow/status.h"
 #include "arrow/type_traits.h"
+#include "arrow/util/bit_util.h"
 #include "arrow/util/checked_cast.h"
 #include "arrow/util/future.h"
 
@@ -747,6 +748,7 @@ class CompositeReferenceTable {
   }
 
           switch (field_type->id()) {
+            ASOFJOIN_MATERIALIZE_CASE(BOOL)
             ASOFJOIN_MATERIALIZE_CASE(INT8)
             ASOFJOIN_MATERIALIZE_CASE(INT16)
             ASOFJOIN_MATERIALIZE_CASE(INT32)
@@ -803,12 +805,25 @@ class CompositeReferenceTable {
   }
 
   template <class Type, class Builder = typename TypeTraits<Type>::BuilderType>
-  enable_if_fixed_width_type<Type, Status> static BuilderAppend(
+  enable_if_boolean<Type, Status> static BuilderAppend(
       Builder& builder, const std::shared_ptr<ArrayData>& source, row_index_t row) {
     if (source->IsNull(row)) {
       builder.UnsafeAppendNull();
       return Status::OK();
     }
+    builder.UnsafeAppend(bit_util::GetBit(source->template GetValues<uint8_t>(1), row));
+    return Status::OK();
+  }
+
+  template <class Type, class Builder = typename TypeTraits<Type>::BuilderType>
+  enable_if_t<is_fixed_width_type<Type>::value && !is_boolean_type<Type>::value,
+              Status> static BuilderAppend(Builder& builder,
+                                           const std::shared_ptr<ArrayData>& source,
+                                           row_index_t row) {
+    if (source->IsNull(row)) {
+      builder.UnsafeAppendNull();
+      return Status::OK();
+    }
     using CType = typename TypeTraits<Type>::CType;
     builder.UnsafeAppend(source->template GetValues<CType>(1)[row]);
     return Status::OK();
@@ -1097,6 +1112,7 @@ class AsofJoinNode : public ExecNode {
 
   static Status is_valid_data_field(const std::shared_ptr<Field>& field) {
     switch (field->type()->id()) {
+      case Type::BOOL:
       case Type::INT8:
       case Type::INT16:
       case Type::INT32:
diff --git a/cpp/src/arrow/compute/exec/asof_join_node_test.cc b/cpp/src/arrow/compute/exec/asof_join_node_test.cc
index 66ed873620d..bfda559271f 100644
--- a/cpp/src/arrow/compute/exec/asof_join_node_test.cc
+++ b/cpp/src/arrow/compute/exec/asof_join_node_test.cc
@@ -32,6 +32,7 @@
 #include "arrow/compute/exec/util.h"
 #include "arrow/compute/kernels/row_encoder.h"
 #include "arrow/compute/kernels/test_util.h"
+#include "arrow/testing/generator.h"
 #include "arrow/testing/gtest_util.h"
 #include "arrow/testing/matchers.h"
 #include "arrow/testing/random.h"
@@ -73,8 +74,9 @@ Result<BatchesWithSchema> MakeBatchesFromNumString(
     const std::vector<std::string_view>& json_strings, int multiplicity = 1) {
   FieldVector num_fields;
   for (auto field : schema->fields()) {
-    num_fields.push_back(
-        is_base_binary_like(field->type()->id()) ? field->WithType(int64()) : field);
+    auto id = field->type()->id();
+    bool adjust = id == Type::BOOL || is_base_binary_like(id);
+    num_fields.push_back(adjust ? field->WithType(int64()) : field);
   }
   auto num_schema =
       std::make_shared<Schema>(num_fields, schema->endianness(), schema->metadata());
@@ -84,6 +86,7 @@ Result<BatchesWithSchema> MakeBatchesFromNumString(
   batches.schema = schema;
   int n_fields = schema->num_fields();
   for (auto num_batch : num_batches.batches) {
+    Datum two(ConstantArrayGenerator::Int32(num_batch.length, 2));
     std::vector<Datum> values;
     for (int i = 0; i < n_fields; i++) {
       auto type = schema->field(i)->type();
@@ -92,6 +95,18 @@ Result<BatchesWithSchema> MakeBatchesFromNumString(
         ARROW_ASSIGN_OR_RAISE(Datum as_string, Cast(num_batch.values[i], utf8()));
         ARROW_ASSIGN_OR_RAISE(Datum as_type, Cast(as_string, type));
         values.push_back(as_type);
+      } else if (Type::BOOL == type->id()) {
+        // the next 4 lines compute `as_bool` as `(bool)(x - 2*(x/2))`, i.e., the low bit
+        // of `x`. Here, `x` stands for `num_batch.values[i]`, which is an `int64` value.
+        // Taking the low bit is a somewhat arbitrary way of obtaining both `true` and
+        // `false` values from the `int64` values in the test data, in order to get good
+        // testing coverage. A simple cast to a Boolean value would not get good coverage
+        // because all positive values would be cast to `true`.
+        ARROW_ASSIGN_OR_RAISE(Datum div_two, Divide(num_batch.values[i], two));
+        ARROW_ASSIGN_OR_RAISE(Datum rounded, Multiply(div_two, two));
+        ARROW_ASSIGN_OR_RAISE(Datum low_bit, Subtract(num_batch.values[i], rounded));
+        ARROW_ASSIGN_OR_RAISE(Datum as_bool, Cast(low_bit, type));
+        values.push_back(as_bool);
       } else {
         values.push_back(num_batch.values[i]);
       }
@@ -535,6 +550,7 @@ struct BasicTest {
         large_utf8(),
         binary(),
         large_binary(),
+        boolean(),
         int8(),
         int16(),
         int32(),
@@ -559,7 +575,8 @@ struct BasicTest {
     // byte_width > 1 below allows fitting the tested data
     auto time_types = init_types(
         all_types, [](T& t) { return t->byte_width() > 1 && !is_floating(t->id()); });
-    auto key_types = init_types(all_types, [](T& t) { return !is_floating(t->id()); });
+    auto key_types = init_types(
+        all_types, [](T& t) { return !is_floating(t->id()) && t->id() != Type::BOOL; });
     auto l_types = init_types(all_types, [](T& t) { return true; });
     auto r0_types = init_types(all_types, [](T& t) { return t->byte_width() > 1; });
     auto r1_types = init_types(all_types, [](T& t) { return t->byte_width() > 1; });
diff --git a/cpp/src/arrow/compute/exec/test_nodes.h b/cpp/src/arrow/compute/exec/test_nodes.h
index a117df0c460..d8954ed27db 100644
--- a/cpp/src/arrow/compute/exec/test_nodes.h
+++ b/cpp/src/arrow/compute/exec/test_nodes.h
@@ -15,6 +15,8 @@
 // specific language governing permissions and limitations
 // under the License.
 
+#pragma once
+
 #include <string>
 
 #include "arrow/compute/exec/options.h"