diff --git a/components/esp_modem/include/generate/esp_modem_command_declare.inc b/components/esp_modem/include/generate/esp_modem_command_declare.inc
index 2ae7a7224..1709bf9da 100644
--- a/components/esp_modem/include/generate/esp_modem_command_declare.inc
+++ b/components/esp_modem/include/generate/esp_modem_command_declare.inc
@@ -65,7 +65,15 @@ ESP_MODEM_DECLARE_DCE_COMMAND(store_profile, command_result, 0) \
  * @param[in] pin Pin
  * @return OK, FAIL or TIMEOUT
  */\
-ESP_MODEM_DECLARE_DCE_COMMAND(set_pin,  command_result, 1, STRING_IN(p1, pin)) \
+ESP_MODEM_DECLARE_DCE_COMMAND(set_pin, command_result, 1, STRING_IN(p1, pin)) \
+    \
+/**
+ * @brief Execute the supplied AT command
+ * @param[in] at AT command
+ * @param[out] out Command output string
+ * @return OK, FAIL or TIMEOUT
+ */\
+ESP_MODEM_DECLARE_DCE_COMMAND(at, command_result, 2, STRING_IN(p1, cmd), STRING_OUT(p2, out)) \
     \
 /**
  * @brief Checks if the SIM needs a PIN
diff --git a/components/esp_modem/src/esp_modem_c_api.cpp b/components/esp_modem/src/esp_modem_c_api.cpp
index e89fc1950..e1a9e9d9c 100644
--- a/components/esp_modem/src/esp_modem_c_api.cpp
+++ b/components/esp_modem/src/esp_modem_c_api.cpp
@@ -184,6 +184,20 @@ extern "C" esp_err_t esp_modem_set_pin(esp_modem_dce_t *dce_wrap, const char *pi
     return command_response_to_esp_err(dce_wrap->dce->set_pin(pin_str));
 }
 
+extern "C" esp_err_t esp_modem_at(esp_modem_dce_t *dce_wrap, const char *at, char *p_out)
+{
+    if (dce_wrap == nullptr || dce_wrap->dce == nullptr) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    std::string out;
+    std::string at_str(at);
+    auto ret = command_response_to_esp_err(dce_wrap->dce->at(at_str, out));
+    if ((p_out != NULL) && (!out.empty())) {
+        strlcpy(p_out, out.c_str(), ESP_MODEM_C_API_STR_MAX);
+    }
+    return ret;
+}
+
 extern "C" esp_err_t esp_modem_get_signal_quality(esp_modem_dce_t *dce_wrap, int *rssi, int *ber)
 {
     if (dce_wrap == nullptr || dce_wrap->dce == nullptr) {
diff --git a/components/esp_modem/src/esp_modem_command_library.cpp b/components/esp_modem/src/esp_modem_command_library.cpp
index 39a3b6176..867ca20ad 100644
--- a/components/esp_modem/src/esp_modem_command_library.cpp
+++ b/components/esp_modem/src/esp_modem_command_library.cpp
@@ -379,6 +379,13 @@ command_result set_pin(CommandableIf *t, const std::string &pin)
     return generic_command_common(t, set_pin_command);
 }
 
+command_result at(CommandableIf *t, const std::string &cmd, std::string &out)
+{
+    ESP_LOGV(TAG, "%s", __func__ );
+    std::string at_command = cmd + "\r";
+    return generic_get_string(t, at_command, out);
+}
+
 command_result get_signal_quality(CommandableIf *t, int &rssi, int &ber)
 {
     ESP_LOGV(TAG, "%s", __func__ );
@@ -543,4 +550,4 @@ command_result set_gnss_power_mode_sim76xx(CommandableIf *t, int mode)
     return generic_command_common(t, "AT+CGPS=" + std::to_string(mode) + "\r");
 }
 
-} // esp_modem::dce_commands
\ No newline at end of file
+} // esp_modem::dce_commands