diff --git a/cpp/src/arrow/filesystem/s3fs.cc b/cpp/src/arrow/filesystem/s3fs.cc
index c57fc7f291c68..29b45e1dc9abe 100644
--- a/cpp/src/arrow/filesystem/s3fs.cc
+++ b/cpp/src/arrow/filesystem/s3fs.cc
@@ -127,6 +127,7 @@ using internal::ToAwsString;
 using internal::ToURLEncodedAwsString;
 
 static const char kSep = '/';
+constexpr char kAwsEndpointUrlEnvVar[] = "AWS_ENDPOINT_URL";
 
 // -----------------------------------------------------------------------
 // S3ProxyOptions implementation
@@ -337,6 +338,10 @@ Result<S3Options> S3Options::FromUri(const Uri& uri, std::string* out_path) {
   } else {
     options.ConfigureDefaultCredentials();
   }
+  auto endpoint_env = arrow::internal::GetEnvVar(kAwsEndpointUrlEnvVar);
+  if (endpoint_env.ok()) {
+    options.endpoint_override = *endpoint_env;
+  }
 
   bool region_set = false;
   for (const auto& kv : options_map) {
diff --git a/cpp/src/arrow/filesystem/s3fs_test.cc b/cpp/src/arrow/filesystem/s3fs_test.cc
index 1426fe324b720..f77191b126305 100644
--- a/cpp/src/arrow/filesystem/s3fs_test.cc
+++ b/cpp/src/arrow/filesystem/s3fs_test.cc
@@ -297,6 +297,14 @@ TEST_F(S3OptionsTest, FromUri) {
 
   // Invalid option
   ASSERT_RAISES(Invalid, S3Options::FromUri("s3://mybucket/?xxx=zzz", &path));
+
+  // Endpoint from environment variable
+  {
+    EnvVarGuard endpoint_guard("AWS_ENDPOINT_URL", "http://127.0.0.1:9000");
+    ASSERT_OK_AND_ASSIGN(options, S3Options::FromUri("s3://mybucket/", &path));
+    ASSERT_EQ(options.endpoint_override, "http://127.0.0.1:9000");
+  }
+
 }
 
 TEST_F(S3OptionsTest, FromAccessKey) {