diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 0ad41ec32b..671edf88d9 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -338,6 +338,7 @@ protected:
     void handle_rally_fetch_point(mavlink_message_t *msg);
     void handle_rally_point(mavlink_message_t *msg);
     virtual void handle_mount_message(const mavlink_message_t *msg);
+    void handle_fence_message(mavlink_message_t *msg);
     void handle_param_value(mavlink_message_t *msg);
     void handle_radio_status(mavlink_message_t *msg, AP_Logger &dataflash, bool log_radio);
     void handle_serial_control(const mavlink_message_t *msg);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 5db8ec820f..acf9c83180 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3023,6 +3023,11 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
         handle_command_int(msg);
         break;
 
+    case MAVLINK_MSG_ID_FENCE_POINT:
+    case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
+        handle_fence_message(msg);
+        break;
+
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
         handle_mount_message(msg);
         break;
diff --git a/libraries/GCS_MAVLink/GCS_Fence.cpp b/libraries/GCS_MAVLink/GCS_Fence.cpp
index b4f4a60d67..22849dd61e 100644
--- a/libraries/GCS_MAVLink/GCS_Fence.cpp
+++ b/libraries/GCS_MAVLink/GCS_Fence.cpp
@@ -21,6 +21,26 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_lon
     }
 }
 
+void GCS_MAVLINK::handle_fence_message(mavlink_message_t *msg)
+{
+    AC_Fence *fence = AP::fence();
+    if (fence == nullptr) {
+        return;
+    }
+    // send or receive fence points with GCS
+    switch (msg->msgid) {
+    case MAVLINK_MSG_ID_FENCE_POINT:
+    case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
+        fence->handle_msg(*this, msg);
+        break;
+    default:
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        AP_HAL::panic("Unhandled common fence message");
+#endif
+        break;
+    }
+}
+
 // fence_send_mavlink_status - send fence status to ground station
 void GCS_MAVLINK::send_fence_status() const
 {