diff --git a/redis/cluster.py b/redis/cluster.py
index dfa2647819..487e3d7f85 100644
--- a/redis/cluster.py
+++ b/redis/cluster.py
@@ -237,6 +237,7 @@ class AbstractRedisCluster:
                 "SLOWLOG LEN",
                 "SLOWLOG RESET",
                 "WAIT",
+                "WAITAOF",
                 "SAVE",
                 "MEMORY PURGE",
                 "MEMORY MALLOC-STATS",
diff --git a/redis/commands/core.py b/redis/commands/core.py
index af5384e9ef..392ddb542c 100644
--- a/redis/commands/core.py
+++ b/redis/commands/core.py
@@ -1341,6 +1341,21 @@ def wait(self, num_replicas: int, timeout: int, **kwargs) -> ResponseT:
         """
         return self.execute_command("WAIT", num_replicas, timeout, **kwargs)
 
+    def waitaof(
+        self, num_local: int, num_replicas: int, timeout: int, **kwargs
+    ) -> ResponseT:
+        """
+        This command blocks the current client until all previous write
+        commands by that client are acknowledged as having been fsynced
+        to the AOF of the local Redis and/or at least the specified number
+        of replicas.
+
+        For more information see https://redis.io/commands/waitaof
+        """
+        return self.execute_command(
+            "WAITAOF", num_local, num_replicas, timeout, **kwargs
+        )
+
     def hello(self):
         """
         This function throws a NotImplementedError since it is intentionally
diff --git a/tests/test_asyncio/test_commands.py b/tests/test_asyncio/test_commands.py
index 89a8525887..c0259680c0 100644
--- a/tests/test_asyncio/test_commands.py
+++ b/tests/test_asyncio/test_commands.py
@@ -461,6 +461,20 @@ async def test_client_no_touch(self, r: redis.Redis):
         with pytest.raises(TypeError):
             await r.client_no_touch()
 
+    @skip_if_server_version_lt("7.2.0")
+    @pytest.mark.onlycluster
+    async def test_waitaof(self, r):
+        # must return a list of 2 elements
+        assert len(await r.waitaof(0, 0, 0)) == 2
+        assert len(await r.waitaof(1, 0, 0)) == 2
+        assert len(await r.waitaof(1, 0, 1000)) == 2
+
+        # value is out of range, value must between 0 and 1
+        with pytest.raises(exceptions.ResponseError):
+            await r.waitaof(2, 0, 0)
+        with pytest.raises(exceptions.ResponseError):
+            await r.waitaof(-1, 0, 0)
+
     async def test_config_get(self, r: redis.Redis):
         data = await r.config_get()
         assert "maxmemory" in data
diff --git a/tests/test_commands.py b/tests/test_commands.py
index 4e2ac5b041..2213e81f72 100644
--- a/tests/test_commands.py
+++ b/tests/test_commands.py
@@ -704,6 +704,20 @@ def test_client_no_touch(self, r):
         with pytest.raises(TypeError):
             r.client_no_touch()
 
+    @pytest.mark.onlycluster
+    @skip_if_server_version_lt("7.2.0")
+    def test_waitaof(self, r):
+        # must return a list of 2 elements
+        assert len(r.waitaof(0, 0, 0)) == 2
+        assert len(r.waitaof(1, 0, 0)) == 2
+        assert len(r.waitaof(1, 0, 1000)) == 2
+
+        # value is out of range, value must between 0 and 1
+        with pytest.raises(exceptions.ResponseError):
+            r.waitaof(2, 0, 0)
+        with pytest.raises(exceptions.ResponseError):
+            r.waitaof(-1, 0, 0)
+
     @pytest.mark.onlynoncluster
     @skip_if_server_version_lt("3.2.0")
     def test_client_reply(self, r, r_timeout):