diff --git a/RELEASES.md b/RELEASES.md
index 3c73c6779..79ad237b5 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,7 @@
 Version 0.8.12 (2021-12-XX)
 ========================
  * New alert sounds
+ * Audi Q3 2020-21 support thanks to jyoung8607!
  * Honda Accord 2021 support thanks to csouers!
  * Honda Accord Hybrid 2021 support thanks to csouers!
  * Lexus RC 2020 support thanks to ErichMoraga!
diff --git a/docs/CARS.md b/docs/CARS.md
index a4742603b..418ba0c3f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -83,6 +83,7 @@
 | Audi      | A3 2014-19                    | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
 | Audi      | A3 Sportback e-tron 2017-18   | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
 | Audi      | Q2 2018                       | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
+| Audi      | Q3 2020-21                    | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
 | Audi      | S3 2015                       | ACC + Lane Assist | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 51b6a9a04..560e64ce2 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -115,6 +115,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1205 + STD_CARGO_KG
       ret.wheelbase = 2.61
 
+    elif candidate == CAR.AUDI_Q3_MK2:
+      ret.mass = 1623 + STD_CARGO_KG
+      ret.wheelbase = 2.68
+
     elif candidate == CAR.SEAT_ATECA_MK1:
       ret.mass = 1900 + STD_CARGO_KG
       ret.wheelbase = 2.64
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 27bf9fb1b..6f23944d7 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -79,6 +79,7 @@ class CAR:
   TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW VW T-Roc and variants
   AUDI_A3_MK3 = "AUDI A3 3RD GEN"                   # Chassis 8V/FF, Mk3 Audi A3 and variants
   AUDI_Q2_MK1 = "AUDI Q2 1ST GEN"                   # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
+  AUDI_Q3_MK2 = "AUDI Q3 2ND GEN"                   # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
   SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"               # Chassis 5F, Mk3 SEAT Leon and variants
   SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN"           # Chassis NW, Mk1 Skoda Kamiq
@@ -555,6 +556,28 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
+  CAR.AUDI_Q3_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018N \xf1\x899970',
+      b'\xf1\x8783A906259  \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158CN\xf1\x893608',
+      b'\xf1\x870GC300046F \xf1\x892701',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
+      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
   CAR.SEAT_ATECA_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027KA\xf1\x893749',
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index 696fe0de0..dc6b926db 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -158,6 +158,7 @@ routes = [
   TestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
   TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
   TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
+  TestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
   TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
   TestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
   TestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),