diff --git a/ros2action/ros2action/verb/find.py b/ros2action/ros2action/verb/find.py
new file mode 100644
index 000000000..36a18c227
--- /dev/null
+++ b/ros2action/ros2action/verb/find.py
@@ -0,0 +1,46 @@
+# Copyright 2024 Sony Group Corporation.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2action.api import action_type_completer
+from ros2action.api import get_action_names_and_types
+from ros2action.verb import VerbExtension
+from ros2cli.node.strategy import NodeStrategy
+
+
+class FindVerb(VerbExtension):
+    """Find actions from type."""
+
+    def add_arguments(self, parser, cli_name):
+        arg = parser.add_argument(
+            'action_type',
+            help="Name of the ROS action type to find (e.g. 'test_msgs/action/Fibonacci')")
+        arg.completer = action_type_completer
+        parser.add_argument(
+            '-c', '--count-actions', action='store_true',
+            help='Only display the number of actions discovered')
+
+    def main(self, *, args):
+        with NodeStrategy(args) as node:
+            action_names_and_types = get_action_names_and_types(node=node)
+
+        filtered_actions = []
+        for (action_name, action_types) in action_names_and_types:
+            if args.action_type in action_types:
+                filtered_actions.append(action_name)
+
+        if args.count_actions:
+            print(len(filtered_actions))
+        else:
+            for filtered_action in filtered_actions:
+                print(filtered_action)
diff --git a/ros2action/setup.py b/ros2action/setup.py
index b0a8ee7bd..e127d6b01 100644
--- a/ros2action/setup.py
+++ b/ros2action/setup.py
@@ -44,6 +44,7 @@
             'list = ros2action.verb.list:ListVerb',
             'send_goal = ros2action.verb.send_goal:SendGoalVerb',
             'type = ros2action.verb.type:TypeVerb',
+            'find = ros2action.verb.find:FindVerb',
         ],
     }
 )
diff --git a/ros2action/test/test_cli.py b/ros2action/test/test_cli.py
index bd3b86f66..affda6d4d 100644
--- a/ros2action/test/test_cli.py
+++ b/ros2action/test/test_cli.py
@@ -231,6 +231,27 @@ def test_type(self):
             text=action_command.output, strict=True
         )
 
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_find(self):
+        with self.launch_action_command(
+                arguments=['find', 'test_msgs/action/Fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=['/fibonacci'],
+            text=action_command.output, strict=True
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_find_count(self):
+        with self.launch_action_command(
+                arguments=['find', '-c', 'test_msgs/action/Fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        command_output_lines = action_command.output.splitlines()
+        assert len(command_output_lines) == 1
+        assert int(command_output_lines[0]) == 1
+
     @launch_testing.markers.retry_on_failure(times=5, delay=1)
     def test_send_fibonacci_goal(self):
         with self.launch_action_command(