diff --git a/HISTORY.rst b/HISTORY.rst
index dafe0cae..760f75d9 100644
--- a/HISTORY.rst
+++ b/HISTORY.rst
@@ -11,6 +11,7 @@ PlatformIO Core 5
 5.2.5 (2021-12-??)
 ~~~~~~~~~~~~~~~~~~
 
+- Run command from a PlatformIO package with a new `pio exec <https://docs.platformio.org/en/latest/core/userguide/cmd_exec.html>`__ (`issue #4163 <https://github.com/platformio/platformio-core/issues/4163>`_)
 - Improved support for private packages in `PlatformIO Registry <https://registry.platformio.org/>`__
 - Improved checking of available Internet connection for IPv6-only workstations (`pull #4151 <https://github.com/platformio/platformio-core/pull/4151>`_)
 - Better detecting of default PlatformIO project directory on Linux OS (`pull #4158 <https://github.com/platformio/platformio-core/pull/4158>`_)
diff --git a/docs b/docs
index 4de1b83a..e10bd4d3 160000
--- a/docs
+++ b/docs
@@ -1 +1 @@
-Subproject commit 4de1b83a71aeb6870ceb2ecd8ec4c2e38939f361
+Subproject commit e10bd4d37482c6a963eaabf1f4bfcaec4a7a0ad8
diff --git a/platformio/commands/exec.py b/platformio/commands/exec.py
new file mode 100644
index 00000000..b637970f
--- /dev/null
+++ b/platformio/commands/exec.py
@@ -0,0 +1,89 @@
+# Copyright (c) 2014-present PlatformIO <contact@platformio.org>
+#
+# 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.
+
+import os
+import subprocess
+
+import click
+
+from platformio.compat import IS_MACOS, IS_WINDOWS
+from platformio.exception import UserSideException
+from platformio.package.manager.tool import ToolPackageManager
+
+
+@click.command("exec", short_help="Run command from package")
+@click.option("-p", "--package", metavar="<pkg>[@<version>]")
+@click.option("-c", "--call", metavar="<cmd> [args...]")
+@click.argument("args", nargs=-1, type=click.UNPROCESSED)
+def cli(package, call, args):
+    if not call and not args:
+        raise click.BadArgumentUsage("Please provide command name")
+    pkg = None
+    if package:
+        pm = ToolPackageManager()
+        pkg = pm.get_package(package)
+        if not pkg:
+            pkg = pm.install(package)
+    else:
+        executable = args[0] if args else call.split(" ")[0]
+        pkg = find_pkg_by_executable(executable)
+        if not pkg:
+            raise UserSideException(
+                "Could not find a package with '%s' executable file" % executable
+            )
+
+    click.echo(
+        "Using %s package"
+        % click.style("%s@%s" % (pkg.metadata.name, pkg.metadata.version), fg="green")
+    )
+    inject_pkg_to_environ(pkg)
+
+    try:
+        subprocess.run(  # pylint: disable=subprocess-run-check
+            call or args, shell=call is not None, env=os.environ
+        )
+    except Exception as exc:
+        raise UserSideException(exc)
+
+
+def find_pkg_by_executable(executable):
+    exes = [executable]
+    if IS_WINDOWS and not executable.endswith(".exe"):
+        exes.append(f"{executable}.exe")
+    for pkg in ToolPackageManager().get_installed():
+        for exe in exes:
+            if os.path.exists(os.path.join(pkg.path, exe)) or os.path.exists(
+                os.path.join(pkg.path, "bin", exe)
+            ):
+                return pkg
+    return None
+
+
+def inject_pkg_to_environ(pkg):
+    bin_dir = os.path.join(pkg.path, "bin")
+    lib_dir = os.path.join(pkg.path, "lib")
+
+    paths = [bin_dir, pkg.path] if os.path.isdir(bin_dir) else [pkg.path]
+    if os.environ.get("PATH"):
+        paths.append(os.environ.get("PATH"))
+    os.environ["PATH"] = os.pathsep.join(paths)
+
+    if IS_WINDOWS or not os.path.isdir(lib_dir) or "toolchain" in pkg.metadata.name:
+        return
+
+    lib_path_key = "DYLD_LIBRARY_PATH" if IS_MACOS else "LD_LIBRARY_PATH"
+    lib_paths = [lib_dir]
+    if os.environ.get(lib_path_key):
+        lib_paths.append(os.environ.get(lib_path_key))
+    os.environ[lib_path_key] = os.pathsep.join(lib_paths)