diff --git a/cmd/cantool/main.go b/cmd/cantool/main.go
index d0468aea..885186fa 100644
--- a/cmd/cantool/main.go
+++ b/cmd/cantool/main.go
@@ -27,6 +27,7 @@ import (
 	"go.einride.tech/can/pkg/dbc/analysis/passes/signalnames"
 	"go.einride.tech/can/pkg/dbc/analysis/passes/singletondefinitions"
 	"go.einride.tech/can/pkg/dbc/analysis/passes/siunits"
+	"go.einride.tech/can/pkg/dbc/analysis/passes/uniquemessageids"
 	"go.einride.tech/can/pkg/dbc/analysis/passes/uniquenodenames"
 	"go.einride.tech/can/pkg/dbc/analysis/passes/uniquesignalnames"
 	"go.einride.tech/can/pkg/dbc/analysis/passes/unitsuffixes"
@@ -133,6 +134,7 @@ func analyzers() []*analysis.Analyzer {
 		signalnames.Analyzer(),
 		singletondefinitions.Analyzer(),
 		siunits.Analyzer(),
+		uniquemessageids.Analyzer(),
 		uniquenodenames.Analyzer(),
 		uniquesignalnames.Analyzer(),
 		unitsuffixes.Analyzer(),
diff --git a/pkg/dbc/analysis/passes/uniquemessageids/analyzer.go b/pkg/dbc/analysis/passes/uniquemessageids/analyzer.go
new file mode 100644
index 00000000..4e87f166
--- /dev/null
+++ b/pkg/dbc/analysis/passes/uniquemessageids/analyzer.go
@@ -0,0 +1,30 @@
+package uniquemessageids
+
+import (
+	"go.einride.tech/can/pkg/dbc"
+	"go.einride.tech/can/pkg/dbc/analysis"
+)
+
+func Analyzer() *analysis.Analyzer {
+	return &analysis.Analyzer{
+		Name: "uniquemessageids",
+		Doc:  "check that all message IDs are unique",
+		Run:  run,
+	}
+}
+
+func run(pass *analysis.Pass) error {
+	messageIDs := make(map[dbc.MessageID]struct{})
+	for _, def := range pass.File.Defs {
+		message, ok := def.(*dbc.MessageDef)
+		if !ok || dbc.IsIndependentSignalsMessage(message) {
+			continue
+		}
+		if _, ok := messageIDs[message.MessageID]; ok {
+			pass.Reportf(message.Pos, "non-unique message ID")
+		} else {
+			messageIDs[message.MessageID] = struct{}{}
+		}
+	}
+	return nil
+}
diff --git a/pkg/dbc/analysis/passes/uniquemessageids/analyzer_test.go b/pkg/dbc/analysis/passes/uniquemessageids/analyzer_test.go
new file mode 100644
index 00000000..88ec3382
--- /dev/null
+++ b/pkg/dbc/analysis/passes/uniquemessageids/analyzer_test.go
@@ -0,0 +1,43 @@
+package uniquemessageids
+
+import (
+	"testing"
+	"text/scanner"
+
+	"go.einride.tech/can/pkg/dbc/analysis"
+	"go.einride.tech/can/pkg/dbc/analysis/analysistest"
+)
+
+func TestAnalyzer(t *testing.T) {
+	analysistest.Run(t, Analyzer(), []*analysistest.Case{
+		{
+			Name: "ok",
+			Data: `
+BO_ 101 MOTOR_CMD: 1 DRIVER
+ SG_ MOTOR_CMD_steer : 0|4@1- (1,-5) [-5|5] "" MOTOR
+ SG_ MOTOR_CMD_drive : 4|4@1+ (1,0) [0|9] "" MOTOR
+BO_ 102 MOTOR_CMD: 1 DRIVER
+ SG_ MOTOR_CMD_steer : 0|4@1- (1,-5) [-5|5] "" MOTOR
+ SG_ MOTOR_CMD_drive : 4|4@1+ (1,0) [0|9] "" MOTOR
+			`,
+		},
+
+		{
+			Name: "duplicate",
+			Data: `
+BO_ 103 MOTOR_CMD: 1 DRIVER
+ SG_ MOTOR_CMD_steer : 0|4@1- (1,-5) [-5|5] "" MOTOR
+ SG_ MOTOR_CMD_steer : 4|4@1+ (1,0) [0|9] "" MOTOR
+BO_ 103 MOTOR_CMD: 1 DRIVER
+ SG_ MOTOR_CMD_steer : 0|4@1- (1,-5) [-5|5] "" MOTOR
+ SG_ MOTOR_CMD_steer : 4|4@1+ (1,0) [0|9] "" MOTOR
+			`,
+			Diagnostics: []*analysis.Diagnostic{
+				{
+					Pos:     scanner.Position{Line: 4, Column: 1},
+					Message: "non-unique message ID",
+				},
+			},
+		},
+	})
+}