diff --git a/pyproject.toml b/pyproject.toml
index b09c3c4377..e92bde79a1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -50,6 +50,7 @@ test = [
     "pytest-sugar ~= 0.9.4",
     "pytest-xdist ~= 1.32.0",
     "shellingham ~= 1.4.0",
+    "types-docutils ~= 0.18.3",
 ]
 doc = [
     "mdx-include ~= 1.4.1",
@@ -63,6 +64,7 @@ dev = [
 ]
 all = [
     "colorama ~= 0.4.4",
+    "docutils ~= 0.18.1",
     "shellingham ~= 1.4.0",
 ]
 
diff --git a/tests/test_help_docstring.py b/tests/test_help_docstring.py
new file mode 100644
index 0000000000..fc3891b998
--- /dev/null
+++ b/tests/test_help_docstring.py
@@ -0,0 +1,68 @@
+import typer
+from typer.testing import CliRunner
+
+runner = CliRunner()
+
+app = typer.Typer()
+
+
+@app.command()
+def cmd(
+    arg1: float,
+    arg2: str = typer.Argument("bar"),
+    opt1: str = typer.Option("foo"),
+    opt2: bool = typer.Option(False),
+    opt3: int = typer.Option(1),
+):
+    """
+    Some command
+
+    :param opt1: First option
+    :param opt2: Second option
+    :param opt3:
+        Third
+        option
+    :param arg1: First argument
+    :param arg2: Second argument
+    """
+
+
+@app.callback()
+def main(global_opt: bool = False):
+    """
+    Callback
+
+    :param global_opt: Global option
+    """
+
+
+def test_help_main():
+    result = runner.invoke(app, ["--help"])
+    assert result.exit_code == 0
+    assert "Callback" in result.output
+    assert ":param" not in result.output
+    assert "--global-opt / --no-global-opt" in result.output
+    assert "Global option" in result.output
+    assert "[default: no-global-opt]" in result.output
+
+
+def test_help_cmd():
+    result = runner.invoke(app, ["cmd", "--help"])
+    assert result.exit_code == 0
+    assert "Some command" in result.output
+    assert ":param" not in result.output
+    assert "ARG1" in result.output
+    assert "First argument" in result.output
+    assert "[required]" in result.output
+    assert "[ARG2]" in result.output
+    assert "Second argument" in result.output
+    assert "[default: bar]" in result.output
+    assert "--opt1 TEXT" in result.output
+    assert "First option" in result.output
+    assert "[default: foo]" in result.output
+    assert "--opt2 / --no-opt2" in result.output
+    assert "Second option" in result.output
+    assert "[default: no-opt2]" in result.output
+    assert "--opt3 INTEGER" in result.output
+    assert "Third option" in result.output
+    assert "[default: 1]" in result.output
diff --git a/typer/main.py b/typer/main.py
index bc63301ba9..203c4192c6 100644
--- a/typer/main.py
+++ b/typer/main.py
@@ -310,6 +310,45 @@ def __call__(self, *args: Any, **kwargs: Any) -> Any:
         return get_command(self)(*args, **kwargs)
 
 
+def process_help_text(command: click.Command) -> None:
+    import docutils.nodes
+
+    from . import rst
+
+    if command.help is None:
+        return
+
+    doc = rst.parse(command.help)
+
+    paragraphs = (
+        node for node in doc.children if isinstance(node, docutils.nodes.paragraph)
+    )
+    command.help = "\n\n".join(paragraph.astext() for paragraph in paragraphs)
+
+    field_lists = doc.findall(lambda node: isinstance(node, docutils.nodes.field_list))
+    for field_list in field_lists:
+        for field in field_list.children:
+            assert isinstance(field, docutils.nodes.field)
+            field_name = field.children[0]
+            assert isinstance(field_name, docutils.nodes.field_name)
+            field_body = field.children[1]
+            assert isinstance(field_body, docutils.nodes.field_body)
+            field_name_parts = field_name.astext().split(" ", maxsplit=1)
+            if field_name_parts[0].casefold() == "param":
+                param_name = field_name_parts[1]
+                param_help = field_body.astext()
+                param = next(
+                    (param for param in command.params if param.name == param_name),
+                    None,
+                )
+                if isinstance(param, click.Option):
+                    if not param.help:
+                        param.help = param_help
+                elif isinstance(param, TyperArgument):
+                    if not param.help:
+                        param.help = param_help
+
+
 def get_group(typer_instance: Typer) -> click.Group:
     group = get_group_from_info(TyperInfo(typer_instance))
     return group
@@ -485,6 +524,7 @@ def get_group_from_info(group_info: TyperInfo) -> click.Group:
         hidden=solved_info.hidden,
         deprecated=solved_info.deprecated,
     )
+    process_help_text(group)
     return group
 
 
@@ -544,6 +584,7 @@ def get_command_from_info(command_info: CommandInfo) -> click.Command:
         hidden=command_info.hidden,
         deprecated=command_info.deprecated,
     )
+    process_help_text(command)
     return command
 
 
diff --git a/typer/rst.py b/typer/rst.py
new file mode 100644
index 0000000000..3e42451437
--- /dev/null
+++ b/typer/rst.py
@@ -0,0 +1,14 @@
+import docutils.frontend
+import docutils.nodes
+import docutils.parsers.rst
+import docutils.utils
+
+
+def parse(text: str) -> docutils.nodes.document:
+    parser = docutils.parsers.rst.Parser()
+    settings = docutils.frontend.OptionParser(
+        components=(docutils.parsers.rst.Parser,)
+    ).get_default_values()
+    document = docutils.utils.new_document("<rst-doc>", settings=settings)
+    parser.parse(text, document)
+    return document