diff --git a/docs/testing/yaml_pseudocluster.md b/docs/testing/yaml_pseudocluster.md
new file mode 100644
index 00000000000000..bf9178b7fcec15
--- /dev/null
+++ b/docs/testing/yaml_pseudocluster.md
@@ -0,0 +1,70 @@
+<!---
+This file is automatically generated by a script.
+DO NOT HAND-EDIT THIS FILE.
+Script: generate_pseudo_cluster_doc_tables.py
+-->
+
+
+
+CommissionerCommands
+|command|args|arg type| arg optional|
+|:---|:---|:---|:---|
+|PairWithCode|nodeId<br />payload<br />discoverOnce|node_id<br />char_string<br />boolean|false<br />false<br />true|
+|Unpair|nodeId|node_id|false|
+|GetCommissionerNodeId||||
+|GetCommissionerNodeIdResponse|nodeId|node_id|false|
+|GetCommissionerRootCertificate||||
+|GetCommissionerRootCertificateResponse|RCAC|OCTET_STRING|false|
+|IssueNocChain|Elements<br />nodeId|octet_string<br />node_id|false<br />false|
+|IssueNocChainResponse|NOC<br />ICAC<br />RCAC<br />IPK|octet_string<br />octet_string<br />octet_string<br />octet_string|false<br />false<br />false<br />false|
+
+
+DelayCommands
+|command|args|arg type| arg optional|
+|:---|:---|:---|:---|
+|WaitForCommissioning||||
+|WaitForCommissionee|nodeId<br />expireExistingSession|node_id<br />bool|false<br />true|
+|WaitForMs|ms|int16u|false|
+|WaitForMessage|registerKey<br />message|char_string<br />char_string|false<br />false|
+
+
+DiscoveryCommands
+|command|args|arg type| arg optional|
+|:---|:---|:---|:---|
+|FindCommissionable||||
+|FindCommissionableByShortDiscriminator|value|int16u|false|
+|FindCommissionableByLongDiscriminator|value|int16u|false|
+|FindCommissionableByCommissioningMode||||
+|FindCommissionableByVendorId|value|vendor_id|false|
+|FindCommissionableByDeviceType|value|devtype_id|false|
+|FindCommissioner||||
+|FindCommissionerByVendorId|value|vendor_id|false|
+|FindCommissionerByDeviceType|value|devtype_id|false|
+|FindResponse|hostName<br />instanceName<br />longDiscriminator<br />shortDiscriminator<br />vendorId<br />productId<br />commissioningMode<br />deviceType<br />deviceName<br />rotatingId<br />rotatingIdLen<br />pairingHint<br />pairingInstruction<br />supportsTcp<br />numIPs<br />port<br />mrpRetryIntervalIdle<br />mrpRetryIntervalActive<br />mrpRetryActiveThreshold<br />isICDOperatingAsLIT|char_string<br />char_string<br />int16u<br />int16u<br />vendor_id<br />int16u<br />int8u<br />devtype_id<br />char_string<br />octet_string<br />int64u<br />int16u<br />char_string<br />boolean<br />int8u<br />int16u<br />int32u<br />int32u<br />int16u<br />boolean|false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />false<br />true<br />true<br />true<br />true|
+
+
+EqualityCommands
+|command|args|arg type| arg optional|
+|:---|:---|:---|:---|
+|BooleanEquals|Value1<br />Value2|boolean<br />boolean|false<br />false|
+|SignedNumberEquals|Value1<br />Value2|int64s<br />int64s|false<br />false|
+|UnsignedNumberEquals|Value1<br />Value2|int64u<br />int64u|false<br />false|
+|EqualityResponse|Equals|bool|false|
+
+
+LogCommands
+|command|args|arg type| arg optional|
+|:---|:---|:---|:---|
+|Log|message|char_string|false|
+|UserPrompt|message<br />expectedValue|char_string<br />char_string|false<br />true|
+
+
+SystemCommands
+|command|args|arg type| arg optional|
+|:---|:---|:---|:---|
+|Start|registerKey<br />discriminator<br />port<br />minCommissioningTimeout<br />kvs<br />filepath<br />otaDownloadPath|char_string<br />int16u<br />int16u<br />int16u<br />char_string<br />char_string<br />char_string|true<br />true<br />true<br />true<br />true<br />true<br />true|
+|Stop|registerKey|char_string|true|
+|Reboot|registerKey|char_string|true|
+|FactoryReset|registerKey|char_string|true|
+|CreateOtaImage|otaImageFilePath<br />rawImageFilePath<br />rawImageContent|char_string<br />char_string<br />char_string|false<br />false<br />false|
+|CompareFiles|file1<br />file2|char_string<br />char_string|false<br />false|
diff --git a/scripts/py_matter_yamltests/generate_pseudo_cluster_doc_tables.py b/scripts/py_matter_yamltests/generate_pseudo_cluster_doc_tables.py
new file mode 100644
index 00000000000000..9d60f4f8b2fb3f
--- /dev/null
+++ b/scripts/py_matter_yamltests/generate_pseudo_cluster_doc_tables.py
@@ -0,0 +1,50 @@
+# Copyright (c) 2024 Project CHIP Authors
+#
+# 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
+from matter_yamltests.pseudo_clusters.pseudo_clusters import get_default_pseudo_clusters
+import xml.etree.ElementTree as ElementTree
+
+SCRIPT_DIR = os.path.abspath(os.path.dirname(__file__))
+WARNING = ("<!---\n"
+           "This file is automatically generated by a script.\n"
+           "DO NOT HAND-EDIT THIS FILE.\n"
+           f"Script: {os.path.basename(__file__)}\n"
+           "-->\n\n")
+
+
+def create_tables():
+    pseudo_clusters = get_default_pseudo_clusters()
+
+    doc_path = os.path.abspath(os.path.join(SCRIPT_DIR, '..', '..', 'docs', 'testing', 'yaml_pseudocluster.md'))
+    with open(doc_path, "w") as f:
+        f.writelines(WARNING)
+
+        for cluster in pseudo_clusters.clusters:
+            f.writelines(f'\n\n{cluster.name}\n')
+            f.writelines('|command|args|arg type| arg optional|\n')
+            f.writelines('|:---|:---|:---|:---|\n')
+
+            et = ElementTree.fromstring(cluster.definition)
+            cluster_xml = next(et.iter('cluster'))
+            for command_xml in cluster_xml.iter('command'):
+                cmd = command_xml.get('name')
+                arg = '<br />'.join([arg_xml.get('name') for arg_xml in command_xml.iter('arg')])
+                argtype = '<br />'.join([arg_xml.get('type') for arg_xml in command_xml.iter('arg')])
+                optional = '<br />'.join([arg_xml.get('optional', 'false') for arg_xml in command_xml.iter('arg')])
+
+                f.writelines(f'|{cmd}|{arg}|{argtype}|{optional}|\n')
+
+
+create_tables()