diff --git a/packages/@sanity/codegen/package.json b/packages/@sanity/codegen/package.json
index f8ebd0dd977..a9033b05f6b 100644
--- a/packages/@sanity/codegen/package.json
+++ b/packages/@sanity/codegen/package.json
@@ -68,8 +68,10 @@
     "@babel/types": "^7.23.9",
     "debug": "^4.3.4",
     "globby": "^10.0.0",
+    "json5": "^2.2.3",
     "groq-js": "1.5.0-canary.1",
-    "tsconfig-paths": "^4.2.0"
+    "tsconfig-paths": "^4.2.0",
+    "zod": "^3.22.4"
   },
   "devDependencies": {
     "@jest/globals": "^29.7.0",
diff --git a/packages/@sanity/codegen/src/_exports/index.ts b/packages/@sanity/codegen/src/_exports/index.ts
index 1e12f33b8e6..83cae78520d 100644
--- a/packages/@sanity/codegen/src/_exports/index.ts
+++ b/packages/@sanity/codegen/src/_exports/index.ts
@@ -1,3 +1,4 @@
+export {type CodegenConfig, readConfig} from '../readConfig'
 export {readSchema} from '../readSchema'
 export {findQueriesInPath} from '../typescript/findQueriesInPath'
 export {findQueriesInSource} from '../typescript/findQueriesInSource'
diff --git a/packages/@sanity/codegen/src/readConfig.ts b/packages/@sanity/codegen/src/readConfig.ts
new file mode 100644
index 00000000000..a38ce1d4c00
--- /dev/null
+++ b/packages/@sanity/codegen/src/readConfig.ts
@@ -0,0 +1,28 @@
+import {readFile} from 'fs/promises'
+import * as json5 from 'json5'
+import * as z from 'zod'
+
+export const configDefintion = z.object({
+  path: z.string().or(z.array(z.string())).default('./src/**/*.{ts,tsx,js,jsx}'),
+  schema: z.string().default('./schema.json'),
+  generates: z.string().default('./sanity.types.ts'),
+})
+
+export type CodegenConfig = z.infer<typeof configDefintion>
+
+export async function readConfig(path: string): Promise<CodegenConfig> {
+  try {
+    const content = await readFile(path, 'utf-8')
+    const json = json5.parse(content)
+    return configDefintion.parseAsync(json)
+  } catch (error) {
+    if (error instanceof z.ZodError) {
+      throw new Error(`Error in config file\n ${error.errors.map((err) => err.message).join('\n')}`)
+    }
+    if (typeof error === 'object' && error !== null && 'code' in error && error.code === 'ENOENT') {
+      return configDefintion.parse({})
+    }
+
+    throw error
+  }
+}
diff --git a/packages/@sanity/codegen/src/typescript/findQueriesInPath.ts b/packages/@sanity/codegen/src/typescript/findQueriesInPath.ts
index dbcf534f1ff..5c544d0c778 100644
--- a/packages/@sanity/codegen/src/typescript/findQueriesInPath.ts
+++ b/packages/@sanity/codegen/src/typescript/findQueriesInPath.ts
@@ -25,6 +25,7 @@ type ResultQueries = {
 type ResultError = {
   type: 'error'
   error: Error
+  filename: string
 }
 
 /**
@@ -75,7 +76,7 @@ export async function* findQueriesInPath({
       yield {type: 'queries', filename, queries}
     } catch (error) {
       debug(`Error in file "${filename}"`, error)
-      yield {type: 'error', error}
+      yield {type: 'error', error, filename}
     }
   }
 }
diff --git a/packages/sanity/package.config.ts b/packages/sanity/package.config.ts
index 9fd86115ca5..52b891b7098 100644
--- a/packages/sanity/package.config.ts
+++ b/packages/sanity/package.config.ts
@@ -44,6 +44,11 @@ export default defineConfig({
       require: './lib/_internal/cli/threads/extractSchema.js',
       default: './lib/_internal/cli/threads/extractSchema.js',
     },
+    './_internal/cli/threads/codegenGenerateTypes': {
+      source: './src/_internal/cli/threads/codegenGenerateTypes.ts',
+      require: './lib/_internal/cli/threads/codegenGenerateTypes.js',
+      default: './lib/_internal/cli/threads/codegenGenerateTypes.js',
+    },
   }),
 
   extract: {
diff --git a/packages/sanity/package.json b/packages/sanity/package.json
index d28999ab7d8..d8d162118f4 100644
--- a/packages/sanity/package.json
+++ b/packages/sanity/package.json
@@ -202,6 +202,7 @@
     "@sanity/block-tools": "3.34.0",
     "@sanity/cli": "3.34.0",
     "@sanity/client": "^6.15.5",
+    "@sanity/codegen": "workspace:*",
     "@sanity/color": "^3.0.0",
     "@sanity/diff": "3.34.0",
     "@sanity/diff-match-patch": "^3.1.1",
@@ -251,7 +252,7 @@
     "framer-motion": "^11.0.0",
     "get-it": "^8.4.13",
     "get-random-values-esm": "1.0.2",
-    "groq-js": "^1.1.12",
+    "groq-js": "1.5.0-canary.1",
     "hashlru": "^2.3.0",
     "history": "^5.3.0",
     "i18next": "^23.2.7",
diff --git a/packages/sanity/src/_internal/cli/actions/codegen/generateTypes.telemetry.ts b/packages/sanity/src/_internal/cli/actions/codegen/generateTypes.telemetry.ts
new file mode 100644
index 00000000000..16498c9e4d8
--- /dev/null
+++ b/packages/sanity/src/_internal/cli/actions/codegen/generateTypes.telemetry.ts
@@ -0,0 +1,16 @@
+import {defineTrace} from '@sanity/telemetry'
+
+interface TypesGeneratedTraceAttrubutes {
+  outputSize: number
+  queryTypes: number
+  schemaTypes: number
+  files: number
+  filesWithErrors: number
+  unknownQueries: number
+}
+
+export const TypesGeneratedTrace = defineTrace<TypesGeneratedTraceAttrubutes>({
+  name: 'Types Generated',
+  version: 0,
+  description: 'Trace emitted when generating TypeScript types for queries',
+})
diff --git a/packages/sanity/src/_internal/cli/actions/codegen/generateTypesAction.ts b/packages/sanity/src/_internal/cli/actions/codegen/generateTypesAction.ts
new file mode 100644
index 00000000000..a3fd9da7fcd
--- /dev/null
+++ b/packages/sanity/src/_internal/cli/actions/codegen/generateTypesAction.ts
@@ -0,0 +1,137 @@
+import {constants, open} from 'node:fs/promises'
+import {dirname, join} from 'node:path'
+
+import {type CliCommandArguments, type CliCommandContext} from '@sanity/cli'
+import {readConfig} from '@sanity/codegen'
+import readPkgUp from 'read-pkg-up'
+import {Worker} from 'worker_threads'
+
+import {
+  type CodegenGenerateTypesWorkerData,
+  type CodegenGenerateTypesWorkerMessage,
+} from '../../threads/codegenGenerateTypes'
+import {TypesGeneratedTrace} from './generateTypes.telemetry'
+
+export interface CodegenGenerateTypesCommandFlags {
+  configPath?: string
+}
+
+export default async function codegenGenerateAction(
+  args: CliCommandArguments<CodegenGenerateTypesCommandFlags>,
+  context: CliCommandContext,
+): Promise<void> {
+  const flags = args.extOptions
+  const {output, workDir, telemetry} = context
+
+  const trace = telemetry.trace(TypesGeneratedTrace)
+  trace.start()
+
+  const codegenConfig = await readConfig(flags.configPath || 'sanity-codegen.json')
+
+  const rootPkgPath = readPkgUp.sync({cwd: __dirname})?.path
+  if (!rootPkgPath) {
+    throw new Error('Could not find root directory for `sanity` package')
+  }
+
+  const workerPath = join(
+    dirname(rootPkgPath),
+    'lib',
+    '_internal',
+    'cli',
+    'threads',
+    'codegenGenerateTypes.js',
+  )
+
+  const spinner = output.spinner({}).start('Generating types')
+
+  const worker = new Worker(workerPath, {
+    workerData: {
+      workDir,
+      schemaPath: codegenConfig.schema,
+      searchPath: codegenConfig.path,
+    } satisfies CodegenGenerateTypesWorkerData,
+    // eslint-disable-next-line no-process-env
+    env: process.env,
+  })
+
+  const typeFile = await open(
+    join(process.cwd(), codegenConfig.generates),
+    // eslint-disable-next-line no-bitwise
+    constants.O_TRUNC | constants.O_CREAT | constants.O_WRONLY,
+  )
+
+  typeFile.write('// This file is generated by `sanity codegen generate`\n')
+
+  const stats = {
+    files: 0,
+    errors: 0,
+    queries: 0,
+    schemas: 0,
+    unknownTypes: 0,
+    size: 0,
+  }
+
+  await new Promise<void>((resolve, reject) => {
+    worker.addListener('message', (msg: CodegenGenerateTypesWorkerMessage) => {
+      if (msg.type === 'error') {
+        trace.error(msg.error)
+
+        if (msg.fatal) {
+          reject(msg.error)
+          return
+        }
+        const errorMessage = msg.filename
+          ? `${msg.error.message} in "${msg.filename}"`
+          : msg.error.message
+        spinner.fail(errorMessage)
+        stats.errors++
+        return
+      }
+      if (msg.type === 'complete') {
+        resolve()
+        return
+      }
+
+      let fileTypeString = `// ${msg.filename}\n`
+
+      if (msg.type === 'schema') {
+        stats.schemas += msg.length
+        fileTypeString += `${msg.schema}\n\n`
+        typeFile.write(fileTypeString)
+        return
+      }
+
+      stats.files++
+      for (const {queryName, query, type, unknownTypes} of msg.types) {
+        fileTypeString += `// ${queryName}\n`
+        fileTypeString += `// ${query.replace(/(\r\n|\n|\r)/gm, '')}\n`
+        fileTypeString += `${type}\n`
+        stats.queries++
+        stats.unknownTypes += unknownTypes
+      }
+      typeFile.write(`${fileTypeString}\n`)
+      stats.size += Buffer.byteLength(fileTypeString)
+    })
+    worker.addListener('error', reject)
+  })
+
+  typeFile.close()
+
+  trace.log({
+    outputSize: stats.size,
+    queryTypes: stats.queries,
+    schemaTypes: stats.schemas,
+    files: stats.files,
+    filesWithErrors: stats.errors,
+    unknownQueries: stats.unknownTypes,
+  })
+
+  trace.complete()
+  if (stats.errors > 0) {
+    spinner.warn(`Encountered errors in ${stats.errors} files while generating types`)
+  }
+
+  spinner.succeed(
+    `Generated TypeScript types for ${stats.schemas} schema types and ${stats.queries} queries in ${stats.files} files into: ${codegenConfig.generates}`,
+  )
+}
diff --git a/packages/sanity/src/_internal/cli/commands/codegen/generateTypesCommand.ts b/packages/sanity/src/_internal/cli/commands/codegen/generateTypesCommand.ts
new file mode 100644
index 00000000000..41767fcfa8b
--- /dev/null
+++ b/packages/sanity/src/_internal/cli/commands/codegen/generateTypesCommand.ts
@@ -0,0 +1,41 @@
+import {type CliCommandDefinition} from '@sanity/cli'
+
+const description = 'Generates codegen'
+
+const helpText = `
+**Note**: This command is experimental and subject to change.
+
+Options
+  --help, -h
+    Show this help text.
+
+Examples
+  # Generate types from a schema, generate schema with "sanity schema extract" first.
+  sanity codegen generate-types
+
+Configuration
+The codegen command uses the following configuration properties from sanity-codegen.json:
+{
+  "path": "'./src/**/*.{ts,tsx,js,jsx}'" // glob pattern to your typescript files
+  "schema": "schema.json", // path to your schema file, generated with 'sanity schema extract' command
+  "generates": "./sanity.types.ts" // path to the file where the types will be generated
+}
+
+The listed properties are the default values, and can be overridden in the configuration file.
+`
+
+const generateTypesCodegenCommand: CliCommandDefinition = {
+  name: 'generate-types',
+  group: 'codegen',
+  signature: '',
+  description,
+  helpText,
+  hideFromHelp: true,
+  action: async (args, context) => {
+    const mod = await import('../../actions/codegen/generateTypesAction')
+
+    return mod.default(args, context)
+  },
+} satisfies CliCommandDefinition
+
+export default generateTypesCodegenCommand
diff --git a/packages/sanity/src/_internal/cli/commands/index.ts b/packages/sanity/src/_internal/cli/commands/index.ts
index e27daee4cce..051b9476e65 100644
--- a/packages/sanity/src/_internal/cli/commands/index.ts
+++ b/packages/sanity/src/_internal/cli/commands/index.ts
@@ -7,6 +7,7 @@ import enableBackupCommand from './backup/enableBackupCommand'
 import listBackupCommand from './backup/listBackupCommand'
 import buildCommand from './build/buildCommand'
 import checkCommand from './check/checkCommand'
+import generateTypesCodegenCommand from './codegen/generateTypesCommand'
 import configCheckCommand from './config/configCheckCommand'
 import addCorsOriginCommand from './cors/addCorsOriginCommand'
 import corsGroup from './cors/corsGroup'
@@ -97,6 +98,7 @@ const commands: (CliCommandDefinition | CliCommandGroupDefinition)[] = [
   queryDocumentsCommand,
   deleteDocumentsCommand,
   createDocumentsCommand,
+  generateTypesCodegenCommand,
   validateDocumentsCommand,
   graphqlGroup,
   listGraphQLAPIsCommand,
diff --git a/packages/sanity/src/_internal/cli/threads/codegenGenerateTypes.ts b/packages/sanity/src/_internal/cli/threads/codegenGenerateTypes.ts
new file mode 100644
index 00000000000..471fb515a0b
--- /dev/null
+++ b/packages/sanity/src/_internal/cli/threads/codegenGenerateTypes.ts
@@ -0,0 +1,157 @@
+import {
+  findQueriesInPath,
+  getResolver,
+  readSchema,
+  registerBabel,
+  TypeGenerator,
+} from '@sanity/codegen'
+import createDebug from 'debug'
+import {parse, typeEvaluate, type TypeNode} from 'groq-js'
+import {isMainThread, parentPort, workerData as _workerData} from 'worker_threads'
+
+const $info = createDebug('sanity:codegen:generate:info')
+
+export interface CodegenGenerateTypesWorkerData {
+  workDir: string
+  workspaceName?: string
+  schemaPath: string
+  searchPath: string | string[]
+}
+
+export type CodegenGenerateTypesWorkerMessage =
+  | {
+      type: 'error'
+      error: Error
+      fatal: boolean
+      query?: string
+      filename?: string
+    }
+  | {
+      type: 'types'
+      filename: string
+      types: {
+        queryName: string
+        query: string
+        type: string
+        unknownTypes: number
+      }[]
+    }
+  | {
+      type: 'schema'
+      filename: string
+      schema: string
+      length: number
+    }
+  | {
+      type: 'complete'
+    }
+
+if (isMainThread || !parentPort) {
+  throw new Error('This module must be run as a worker thread')
+}
+
+const opts = _workerData as CodegenGenerateTypesWorkerData
+
+registerBabel()
+
+async function main() {
+  const schema = await readSchema(opts.schemaPath)
+
+  const typeGenerator = new TypeGenerator(schema)
+  const schemaTypes = typeGenerator.generateSchemaTypes()
+  const resolver = getResolver()
+
+  parentPort?.postMessage({
+    type: 'schema',
+    schema: schemaTypes,
+    filename: 'schema.json',
+    length: schema.length,
+  } satisfies CodegenGenerateTypesWorkerMessage)
+
+  const queries = findQueriesInPath({
+    path: opts.searchPath,
+    resolver,
+  })
+
+  for await (const result of queries) {
+    if (result.type === 'error') {
+      parentPort?.postMessage({
+        type: 'error',
+        error: result.error,
+        fatal: false,
+        filename: result.filename,
+      } satisfies CodegenGenerateTypesWorkerMessage)
+      continue
+    }
+    $info(`Processing ${result.queries.length} queries in "${result.filename}"...`)
+
+    const fileQueryTypes: {queryName: string; query: string; type: string; unknownTypes: number}[] =
+      []
+    for (const {name: queryName, result: query} of result.queries) {
+      try {
+        const ast = parse(query)
+        const queryTypes = typeEvaluate(ast, schema)
+
+        const type = typeGenerator.generateTypeNodeTypes(queryName, queryTypes)
+
+        fileQueryTypes.push({
+          queryName: queryName,
+          query,
+          type,
+          unknownTypes: countUnknownTypes(queryTypes),
+        })
+      } catch (err) {
+        parentPort?.postMessage({
+          type: 'error',
+          error: new Error(
+            `Error generating types for query "${queryName}" in "${result.filename}": ${err.message}`,
+            {cause: err},
+          ),
+          fatal: false,
+          query,
+        } satisfies CodegenGenerateTypesWorkerMessage)
+      }
+    }
+
+    if (fileQueryTypes.length > 0) {
+      $info(`Generated types for ${fileQueryTypes.length} queries in "${result.filename}"\n`)
+      parentPort?.postMessage({
+        type: 'types',
+        types: fileQueryTypes,
+        filename: result.filename,
+      } satisfies CodegenGenerateTypesWorkerMessage)
+    }
+  }
+
+  parentPort?.postMessage({
+    type: 'complete',
+  } satisfies CodegenGenerateTypesWorkerMessage)
+}
+
+function countUnknownTypes(typeNode: TypeNode): number {
+  switch (typeNode.type) {
+    case 'unknown':
+      return 1
+    case 'array':
+      return countUnknownTypes(typeNode.of)
+    case 'object':
+      // if the rest is unknown, we count it as one unknown type
+      if (typeNode.rest && typeNode.rest.type === 'unknown') {
+        return 1
+      }
+
+      return (
+        Object.values(typeNode.attributes).reduce(
+          (acc, attribute) => acc + countUnknownTypes(attribute.value),
+          0,
+        ) + (typeNode.rest ? countUnknownTypes(typeNode.rest) : 0)
+      )
+    case 'union':
+      return typeNode.of.reduce((acc, type) => acc + countUnknownTypes(type), 0)
+
+    default:
+      return 0
+  }
+}
+
+main()
diff --git a/packages/sanity/tsconfig.json b/packages/sanity/tsconfig.json
index e1ffb17e9a9..ea48f170b2f 100644
--- a/packages/sanity/tsconfig.json
+++ b/packages/sanity/tsconfig.json
@@ -42,6 +42,7 @@
     {"path": "../@sanity/types/tsconfig.lib.json"},
     {"path": "../@sanity/cli/tsconfig.lib.json"},
     {"path": "../@sanity/util/tsconfig.lib.json"},
-    {"path": "../@sanity/migrate/tsconfig.lib.json"}
+    {"path": "../@sanity/migrate/tsconfig.lib.json"},
+    {"path": "../@sanity/codegen/tsconfig.lib.json"}
   ]
 }
diff --git a/packages/sanity/tsconfig.lib.json b/packages/sanity/tsconfig.lib.json
index f0f87a09209..32381ad3e37 100644
--- a/packages/sanity/tsconfig.lib.json
+++ b/packages/sanity/tsconfig.lib.json
@@ -41,6 +41,7 @@
     {"path": "../@sanity/types/tsconfig.lib.json"},
     {"path": "../@sanity/cli/tsconfig.lib.json"},
     {"path": "../@sanity/util/tsconfig.lib.json"},
-    {"path": "../@sanity/migrate/tsconfig.lib.json"}
+    {"path": "../@sanity/migrate/tsconfig.lib.json"},
+    {"path": "../groq/tsconfig.lib.json"}
   ]
 }
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
index ebc5b33f9be..4a6575beb6f 100644
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
@@ -872,9 +872,15 @@ importers:
       groq-js:
         specifier: 1.5.0-canary.1
         version: 1.5.0-canary.1
+      json5:
+        specifier: ^2.2.3
+        version: 2.2.3
       tsconfig-paths:
         specifier: ^4.2.0
         version: 4.2.0
+      zod:
+        specifier: ^3.22.4
+        version: 3.22.4
     devDependencies:
       '@jest/globals':
         specifier: ^29.7.0
@@ -1437,6 +1443,9 @@ importers:
       '@sanity/client':
         specifier: ^6.15.5
         version: 6.15.5
+      '@sanity/codegen':
+        specifier: workspace:*
+        version: link:../@sanity/codegen
       '@sanity/color':
         specifier: ^3.0.0
         version: 3.0.0
@@ -1585,8 +1594,8 @@ importers:
         specifier: 1.0.2
         version: 1.0.2
       groq-js:
-        specifier: ^1.1.12
-        version: 1.4.3
+        specifier: 1.5.0-canary.1
+        version: 1.5.0-canary.1
       hashlru:
         specifier: ^2.3.0
         version: 2.3.0