diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 52e567350e..887dd9c6af 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -737,10 +737,12 @@ local AP_HAL__I2CDevice_ud = {}
 ---@param address integer
 function AP_HAL__I2CDevice_ud:set_address(address) end
 
--- desc
+-- If no read length is provided a single register will be read and returned.
+-- If read length is provided a table of register values are returned.
 ---@param register_num integer
----@return integer|nil
-function AP_HAL__I2CDevice_ud:read_registers(register_num) end
+---@param read_length? integer
+---@return integer|table|nil
+function AP_HAL__I2CDevice_ud:read_registers(register_num, read_length) end
 
 -- desc
 ---@param register_num integer
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 6c2ccdec01..0deb7d93b6 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -415,7 +415,7 @@ include AP_HAL/I2CDevice.h
 ap_object AP_HAL::I2CDevice semaphore-pointer
 ap_object AP_HAL::I2CDevice method set_retries void uint8_t 0 20
 ap_object AP_HAL::I2CDevice method write_register boolean uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX
-ap_object AP_HAL::I2CDevice method read_registers boolean uint8_t 0 UINT8_MAX &uint8_t'Null 1'literal
+ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registers
 ap_object AP_HAL::I2CDevice method set_address void uint8_t 0 UINT8_MAX
 
 
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 8eeedb92de..e564f6dfd4 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -320,6 +320,55 @@ int lua_get_i2c_device(lua_State *L) {
     return 1;
 }
 
+int AP_HAL__I2CDevice_read_registers(lua_State *L) {
+    const int args = lua_gettop(L);
+    bool multi_register;
+    if (args == 2) {
+        multi_register = false;
+    } else if (args == 3) {
+        multi_register = true;
+    } else {
+        return luaL_argerror(L, args, "expected 1 or 2 arguments");
+    }
+
+    AP_HAL::I2CDevice * ud = *check_AP_HAL__I2CDevice(L, 1);
+    if (ud == NULL) {
+        return luaL_error(L, "Internal error, null pointer");
+    }
+
+    const lua_Integer raw_first_reg = luaL_checkinteger(L, 2);
+    luaL_argcheck(L, ((raw_first_reg >= MAX(0, 0)) && (raw_first_reg <= MIN(UINT8_MAX, UINT8_MAX))), 2, "argument out of range");
+    const uint8_t first_reg = static_cast<uint8_t>(raw_first_reg);
+
+    uint8_t recv_length = 1;
+    if (multi_register) {
+        const lua_Integer raw_recv_length = luaL_checkinteger(L, 3);
+        luaL_argcheck(L, ((raw_recv_length >= MAX(0, 0)) && (raw_recv_length <= MIN(UINT8_MAX, UINT8_MAX))), 3, "argument out of range");
+        recv_length = static_cast<uint8_t>(raw_recv_length);
+    }
+
+    uint8_t data[recv_length];
+
+    ud->get_semaphore()->take_blocking();
+    const bool success = static_cast<bool>(ud->read_registers(first_reg, data, recv_length));
+    ud->get_semaphore()->give();
+
+    if (success) {
+        if (!multi_register) {
+            lua_pushinteger(L, data[0]);
+        } else {
+            // push to table
+            lua_newtable(L);
+            for (uint8_t i=0; i < recv_length; i++) {
+                lua_pushinteger(L, i+1);
+                lua_pushinteger(L, data[i]);
+                lua_settable(L, -3);
+            }
+        }
+    }
+    return success;
+}
+
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
 int lua_get_CAN_device(lua_State *L) {
 
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index d50d7974b4..c32930e36c 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -7,5 +7,6 @@ int lua_micros(lua_State *L);
 int lua_mission_receive(lua_State *L);
 int AP_Logger_Write(lua_State *L);
 int lua_get_i2c_device(lua_State *L);
+int AP_HAL__I2CDevice_read_registers(lua_State *L);
 int lua_get_CAN_device(lua_State *L);
 int lua_get_CAN_device2(lua_State *L);