diff --git a/bifrost/cli.py b/bifrost/cli.py
index 61df4fd4a..1e4b86e35 100644
--- a/bifrost/cli.py
+++ b/bifrost/cli.py
@@ -159,6 +159,7 @@ def cmd_install(args):
             use_cirros=args.testenv,
             use_tinyipa=args.testenv,
             developer_mode=args.develop,
+            enable_prometheus_exporter=args.enable_prometheus_exporter,
             extra_vars=args.extra_vars,
             **kwargs)
     log("Ironic is installed and running, try it yourself:\n",
@@ -230,6 +231,9 @@ def parse_args():
                          action='store_true', default=False,
                          help='enable full disk cleaning between '
                               'deployments (can take a lot of time)')
+    install.add_argument('--enable-prometheus-exporter', action='store_true',
+                         default=False,
+                         help='Enable Ironic Prometheus Exporter')
     install.add_argument('-e', '--extra-vars', action='append',
                          help='additional vars to pass to ansible')
 
diff --git a/doc/source/install/index.rst b/doc/source/install/index.rst
index c704f3cdd..51375ca5c 100644
--- a/doc/source/install/index.rst
+++ b/doc/source/install/index.rst
@@ -248,6 +248,9 @@ Additionally, the following parameters can be useful:
        Using Bifrost to install older versions of Ironic may work, but is not
        guaranteed.
 
+``--enable-prometheus-exporter``
+    Enable the Ironic Prometheus Exporter service.
+
 See the built-in documentation for more details:
 
 .. code-block:: bash
diff --git a/playbooks/ci/run.yaml b/playbooks/ci/run.yaml
index 6daa32d47..100a14185 100644
--- a/playbooks/ci/run.yaml
+++ b/playbooks/ci/run.yaml
@@ -16,3 +16,4 @@
         TEST_VM_NODE_DRIVER: "{{ test_driver | default('ipmi') }}"
         NOAUTH_MODE: "{{ noauth_mode | default(false) | bool | lower }}"
         ENABLE_TLS: "{{ enable_tls | default(false) | bool | lower }}"
+        ENABLE_PROMETHEUS_EXPORTER: "{{ enable_prometheus_exporter | default(false) | bool | lower }}"
diff --git a/playbooks/roles/bifrost-ironic-install/defaults/main.yml b/playbooks/roles/bifrost-ironic-install/defaults/main.yml
index 04d04d86c..7798e994d 100644
--- a/playbooks/roles/bifrost-ironic-install/defaults/main.yml
+++ b/playbooks/roles/bifrost-ironic-install/defaults/main.yml
@@ -19,6 +19,7 @@ ironicinspector_source_install: true
 ironicinspectorclient_source_install: false
 sushy_source_install: false
 staging_drivers_source_install: true
+prometheus_exporter_source_install: true
 # Setting to utilize diskimage-builder to create a bootable image.
 create_image_via_dib: true
 dib_image_type: vm
@@ -110,6 +111,7 @@ ironicinspector_git_url: https://opendev.org/openstack/ironic-inspector
 ironicinspectorclient_git_url: https://opendev.org/openstack/python-ironic-inspector-client
 ipa_git_url: https://opendev.org/openstack/ironic-python-agent
 ipa_builder_git_url: https://opendev.org/openstack/ironic-python-agent-builder
+prometheus_exporter_git_url: https://opendev.org/openstack/ironic-prometheus-exporter
 mysql_username: "root"
 mysql_password: ""
 disable_dnsmasq_dns: True
@@ -124,6 +126,7 @@ ironicinspectorclient_git_folder: /opt/stack/python-ironic-inspector-client
 sushy_git_folder: /opt/stack/sushy
 ipa_git_folder: /opt/stack/ironic-python-agent
 ipa_builder_git_folder: /opt/stack/ironic-python-agent-builder
+prometheus_exporter_git_folder: /opt/stack/ironic-prometheus-exporter
 
 enabled_hardware_types: "ipmi,redfish,manual-management,ilo"
 default_deploy_interface: "direct"
@@ -351,3 +354,14 @@ tls_root: /etc/bifrost
 tls_certificate_path: "{{ tls_root }}/bifrost.crt"
 ironic_private_key_path: /etc/ironic/ironic.pem
 ironic_inspector_private_key_path: /etc/ironic-inspector/inspector.pem
+
+# Enable Ironic Prometheus Exporter
+enable_prometheus_exporter: false
+prometheus_exporter_host: "{{ internal_ip }}"
+prometheus_exporter_port: 9608
+# directory to save the node metrics
+prometheus_exporter_data_dir: /var/lib/ironic-prometheus-exporter/data
+# interval to collect sensor data
+sensor_data_interval: 90
+# sensor data should be collected from undeployed nodes
+sensor_data_undeployed_nodes: false
diff --git a/playbooks/roles/bifrost-ironic-install/tasks/install.yml b/playbooks/roles/bifrost-ironic-install/tasks/install.yml
index 8069dfc2c..6105c7ee3 100644
--- a/playbooks/roles/bifrost-ironic-install/tasks/install.yml
+++ b/playbooks/roles/bifrost-ironic-install/tasks/install.yml
@@ -119,3 +119,7 @@
     package: openstacksdk
     sourcedir: "{{ openstacksdk_git_folder }}"
     source_install: "{{ openstacksdk_source_install }}"
+
+- name: "Install Ironic Prometheus Exporter"
+  include_tasks: prometheus_exporter_install.yml
+  when: enable_prometheus_exporter | bool
diff --git a/playbooks/roles/bifrost-ironic-install/tasks/prometheus_exporter_install.yml b/playbooks/roles/bifrost-ironic-install/tasks/prometheus_exporter_install.yml
new file mode 100644
index 000000000..487f3087c
--- /dev/null
+++ b/playbooks/roles/bifrost-ironic-install/tasks/prometheus_exporter_install.yml
@@ -0,0 +1,27 @@
+# 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.
+---
+- name: "Install gunicorn"
+  include_role:
+    name: bifrost-pip-install
+  vars:
+    package: gunicorn
+
+- name: "Ironic Prometheus Exporter - install"
+  include_role:
+    name: bifrost-pip-install
+  vars:
+    package: ironic-prometheus-exporter
+    sourcedir: "{{ prometheus_exporter_git_folder }}"
+    source_install: "{{ prometheus_exporter_source_install }}"
+    extra_args: "--no-cache-dir {{ pip_opts }}"
diff --git a/playbooks/roles/bifrost-ironic-install/tasks/prometheus_exporter_start.yml b/playbooks/roles/bifrost-ironic-install/tasks/prometheus_exporter_start.yml
new file mode 100644
index 000000000..d92eacf84
--- /dev/null
+++ b/playbooks/roles/bifrost-ironic-install/tasks/prometheus_exporter_start.yml
@@ -0,0 +1,38 @@
+# 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.
+---
+- name: "Set up IPE data dir"
+  file:
+    name: "{{ prometheus_exporter_data_dir }}"
+    owner: ironic
+    group: ironic
+    state: directory
+    mode: '0750'
+
+- name: "Ensure IPE Flask Application is configured on systemd"
+  template:
+    src: ironic-prometheus-exporter.service.j2
+    dest: /etc/systemd/system/ironic-prometheus-exporter.service
+    owner: root
+    group: root
+    mode: 0644
+  become: true
+  register: ironic_prometheus_exporter_service_file
+
+- name: "Ensure IPE Flask Application systemd service is started and enabled"
+  systemd:
+    name: ironic-prometheus-exporter
+    enabled: yes
+    state: started
+    daemon_reload: "{{ ironic_prometheus_exporter_service_file.changed }}"
+  become: true
diff --git a/playbooks/roles/bifrost-ironic-install/tasks/start.yml b/playbooks/roles/bifrost-ironic-install/tasks/start.yml
index 12a27338e..61942ff86 100644
--- a/playbooks/roles/bifrost-ironic-install/tasks/start.yml
+++ b/playbooks/roles/bifrost-ironic-install/tasks/start.yml
@@ -48,6 +48,10 @@
     - xinetd
     - nginx
 
+- name: "Start ironic-prometheus-exporter"
+  include: prometheus_exporter_start.yml
+  when: enable_prometheus_exporter | bool and not skip_start | bool
+
 # Multiple dnsmasqs are likely running, so lets tell the service manager
 # to at least try stopping dnsmasq for us.
 - name: "Stop dnsmasq explicitly."
diff --git a/playbooks/roles/bifrost-ironic-install/templates/ironic-prometheus-exporter.service.j2 b/playbooks/roles/bifrost-ironic-install/templates/ironic-prometheus-exporter.service.j2
new file mode 100644
index 000000000..b8917e430
--- /dev/null
+++ b/playbooks/roles/bifrost-ironic-install/templates/ironic-prometheus-exporter.service.j2
@@ -0,0 +1,10 @@
+[Unit]
+Description=Ironic Prometheus Exporter Flask App
+
+[Service]
+Type=simple
+Restart=on-failure
+ExecStart={{ bifrost_venv_dir }}/bin/gunicorn ironic_prometheus_exporter.app.wsgi:application \
+    --bind {{ prometheus_exporter_host }}:{{ prometheus_exporter_port}} \
+    --env IRONIC_CONFIG=/etc/ironic/ironic.conf \
+    --workers 2 --threads 2 --access-logfile=- --error-logfile=-
diff --git a/playbooks/roles/bifrost-ironic-install/templates/ironic.conf.j2 b/playbooks/roles/bifrost-ironic-install/templates/ironic.conf.j2
index 87abc48d1..6feb822c5 100644
--- a/playbooks/roles/bifrost-ironic-install/templates/ironic.conf.j2
+++ b/playbooks/roles/bifrost-ironic-install/templates/ironic.conf.j2
@@ -94,6 +94,11 @@ deploy_kernel = {{ ipa_kernel_url }}
 deploy_ramdisk = {{ ipa_ramdisk_url }}
 rescue_kernel = {{ ipa_kernel_url }}
 rescue_ramdisk = {{ ipa_ramdisk_url }}
+{% if enable_prometheus_exporter | bool %}
+send_sensor_data = true
+send_sensor_data_for_undeployed_nodes = {{ sensor_data_undeployed_nodes }}
+send_sensor_data_interval = {{ sensor_data_interval }}
+{% endif %}
 
 [database]
 connection = mysql+pymysql://{{ ironic.database.username }}:{{ ironic.database.password }}@{{ ironic.database.host }}/{{ ironic.database.name }}?charset=utf8
@@ -196,3 +201,10 @@ http_basic_auth_user_file = /etc/ironic/htpasswd
 username = {{ admin_username }}
 password = {{ admin_password }}
 {% endif %}
+
+{% if enable_prometheus_exporter | bool %}
+[oslo_messaging_notifications]
+driver = prometheus_exporter
+transport_url = fake://
+location = {{ prometheus_exporter_data_dir }}
+{% endif %}
diff --git a/playbooks/roles/bifrost-prep-for-install/defaults/main.yml b/playbooks/roles/bifrost-prep-for-install/defaults/main.yml
index 839243344..0162a6bc3 100644
--- a/playbooks/roles/bifrost-prep-for-install/defaults/main.yml
+++ b/playbooks/roles/bifrost-prep-for-install/defaults/main.yml
@@ -15,6 +15,7 @@ keystone_git_url: "{{ git_url_root }}/openstack/keystone"
 sushy_git_url: "{{ git_url_root }}/openstack/sushy"
 ipa_git_url: "{{ git_url_root }}/openstack/ironic-python-agent"
 ipa_builder_git_url: "{{ git_url_root }}/openstack/ironic-python-agent-builder"
+prometheus_exporter_git_url: "{{ git_url_root }}/openstack/ironic-prometheus-exporter"
 # *_git_folder can be overridden by local clones for offline installs
 ironicclient_git_folder: "{{ git_root}}/python-ironicclient"
 ironic_git_folder: "{{ git_root}}/ironic"
@@ -28,6 +29,7 @@ keystone_git_folder: "{{ git_root}}/keystone"
 sushy_git_folder: "{{ git_root}}/sushy"
 ipa_git_folder: "{{ git_root}}/ironic-python-agent"
 ipa_builder_git_folder: "{{ git_root}}/ironic-python-agent-builder"
+prometheus_exporter_git_folder: "{{ git_root}}/ironic-prometheus-exporter"
 # *git_branch can be overridden for stable branch testing
 git_branch: master
 ironicclient_git_branch: "{{ git_branch }}"
@@ -42,6 +44,7 @@ keystone_git_branch: "{{ git_branch }}"
 sushy_git_branch: "{{ git_branch }}"
 ipa_git_branch: "{{ git_branch }}"
 ipa_builder_git_branch: master
+prometheus_exporter_git_branch: "{{ git_branch }}"
 # disable source install to prevent cloning
 ironicclient_source_install: false
 openstacksdk_source_install: false
@@ -49,7 +52,9 @@ ironicinspector_source_install: true
 ironicinspectorclient_source_install: false
 sushy_source_install: false
 staging_drivers_source_install: true
+prometheus_exporter_source_install: true
 enable_keystone: false
+enable_prometheus_exporter: false
 
 update_repos: true
 force_update_repos: true
@@ -114,6 +119,11 @@ bifrost_install_sources:
     git_url: "{{ ipa_builder_git_url }}"
     git_branch: "{{ ipa_builder_git_branch }}"
     name: ironic-python-agent-builder
+  - git_folder: "{{ prometheus_exporter_git_folder }}"
+    git_url: "{{ prometheus_exporter_git_url }}"
+    git_branch: "{{ prometheus_exporter_git_branch }}"
+    name: ironic-prometheus-exporter
+    source_install: "{{ enable_prometheus_exporter }}"
 
 # Ensure that Ansible is using python interpreter and dependencies inside the bifrost virtual environment
 bifrost_venv_dir: "{{ lookup('env', 'VENV') or '/opt/stack/bifrost' }}"
diff --git a/releasenotes/notes/add-ipe-1f57e04d2881215f.yaml b/releasenotes/notes/add-ipe-1f57e04d2881215f.yaml
new file mode 100644
index 000000000..7d7597196
--- /dev/null
+++ b/releasenotes/notes/add-ipe-1f57e04d2881215f.yaml
@@ -0,0 +1,6 @@
+---
+features:
+  - |
+    Adds support to install the Ironic Prometheus Exporter. It can be done
+    through the ``bifrost-cli`` using ``--enable-prometheus-exporter`` option,
+    or when setting `enable_prometheus_expoter=True` when deploying.
diff --git a/scripts/test-bifrost.sh b/scripts/test-bifrost.sh
index a3540f745..91850f9e9 100755
--- a/scripts/test-bifrost.sh
+++ b/scripts/test-bifrost.sh
@@ -14,6 +14,7 @@ ZUUL_BRANCH=${ZUUL_BRANCH:-}
 CLI_TEST=${CLI_TEST:-false}
 BOOT_MODE=${BOOT_MODE:-}
 ENABLE_TLS=${ENABLE_TLS:-false}
+ENABLE_PROMETHEUS_EXPORTER=${ENABLE_PROMETHEUS_EXPORTER:-false}
 
 # Set defaults for ansible command-line options to drive the different
 # tests.
@@ -180,6 +181,7 @@ ${ANSIBLE} -vvvv \
     -e wait_for_node_deploy=${WAIT_FOR_DEPLOY} \
     -e not_enrolled_data_file=${BAREMETAL_DATA_FILE}.rest \
     -e enable_tls=${ENABLE_TLS} \
+    -e enable_prometheus_exporter=${ENABLE_PROMETHEUS_EXPORTER} \
     -e generate_tls=${ENABLE_TLS} \
     -e skip_install=${CLI_TEST} \
     -e skip_package_install=${CLI_TEST} \
diff --git a/zuul.d/bifrost-jobs.yaml b/zuul.d/bifrost-jobs.yaml
index b7316234b..6cb7c6afa 100644
--- a/zuul.d/bifrost-jobs.yaml
+++ b/zuul.d/bifrost-jobs.yaml
@@ -82,10 +82,12 @@
     nodeset: ubuntu-bionic
     required-projects:
       - openstack/keystone
+      - openstack/ironic-prometheus-exporter
     vars:
       enable_keystone: true
       enable_tls: true
       test_driver: redfish
+      enable_prometheus_exporter: true
 
 - job:
     name: bifrost-integration-tinyipa-ubuntu-focal
@@ -120,10 +122,12 @@
     nodeset: centos-8
     required-projects:
       - openstack/keystone
+      - openstack/ironic-prometheus-exporter
     vars:
       enable_keystone: true
       enable_tls: true
       test_driver: redfish
+      enable_prometheus_exporter: true
 
 - job:
     name: bifrost-integration-tinyipa-debian-buster