diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index eac6f7082d..a5ca5b41d6 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -183,6 +183,7 @@ public:
     // common send functions
     void send_heartbeat(void) const;
     void send_meminfo(void);
+    void send_fence_status() const;
     void send_power_status(void);
     void send_battery_status(const AP_BattMonitor &battery,
                              const uint8_t instance) const;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 0ac86e64a0..571468d5ed 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3829,6 +3829,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_meminfo();
         break;
 
+    case MSG_FENCE_STATUS:
+        CHECK_PAYLOAD_SIZE(FENCE_STATUS);
+        send_fence_status();
+        break;
+
     case MSG_RANGEFINDER:
         CHECK_PAYLOAD_SIZE(RANGEFINDER);
         send_rangefinder();
diff --git a/libraries/GCS_MAVLink/GCS_Fence.cpp b/libraries/GCS_MAVLink/GCS_Fence.cpp
new file mode 100644
index 0000000000..b7c14b969f
--- /dev/null
+++ b/libraries/GCS_MAVLink/GCS_Fence.cpp
@@ -0,0 +1,33 @@
+#include "GCS.h"
+
+#include <AC_Fence/AC_Fence.h>
+
+// fence_send_mavlink_status - send fence status to ground station
+void GCS_MAVLINK::send_fence_status() const
+{
+    const AC_Fence *fence = AP::fence();
+    if (fence == nullptr) {
+        return;
+    }
+    if (!fence->enabled()) {
+        return;
+    }
+
+    // traslate fence library breach types to mavlink breach types
+    uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
+    const uint8_t breaches = fence->get_breaches();
+    if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
+        mavlink_breach_type = FENCE_BREACH_MAXALT;
+    }
+    if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
+        mavlink_breach_type = FENCE_BREACH_BOUNDARY;
+    }
+
+    // send status
+    mavlink_msg_fence_status_send(chan,
+                                  static_cast<int8_t>(fence->get_breaches() != 0),
+                                  fence->get_breach_count(),
+                                  mavlink_breach_type,
+                                  fence->get_breach_time());
+}
+