diff --git a/docs/streams/upgrade-guide.html b/docs/streams/upgrade-guide.html
index 3ae4573d2071f..892d025be4459 100644
--- a/docs/streams/upgrade-guide.html
+++ b/docs/streams/upgrade-guide.html
@@ -117,6 +117,14 @@ <h3><a id="streams_api_changes_300" href="#streams_api_changes_300">Streams API
     <p>
         We removed the default implementation of <code>RocksDBConfigSetter#close()</code>.
     </p>
+
+    <p>
+        The public <code>topicGroupId</code> and <code>partition</code> fields on TaskId have been deprecated and replaced with getters. Please migrate to using the new <code>TaskId.subtopology()</code>
+        (which replaces <code>topicGroupId</code>) and <code>TaskId.partition()</code> APIs instead. Also, the <code>TaskId#readFrom</code> and <code>TaskId#writeTo</code> methods have been deprecated
+        and will be removed, as they were never intended for public use. Finally, we have deprecated the <code>TaskMetadata.taskId()</code> method as well as the <code>TaskMetadata</code> constructor.
+        These have been replaced with APIs that better represent the task id as an actual <code>TaskId</code> object instead of a String. Please migrate to the new <code>TaskMetadata#getTaskId</code>
+        method. See <a href="https://cwiki.apache.org/confluence/x/vYTOCg">KIP-740</a> for more details.
+    </p>
     <p>
         We removed the following deprecated APIs:
     </p>
diff --git a/streams/src/main/java/org/apache/kafka/streams/processor/TaskId.java b/streams/src/main/java/org/apache/kafka/streams/processor/TaskId.java
index d53630225cc15..f4d8349eadd95 100644
--- a/streams/src/main/java/org/apache/kafka/streams/processor/TaskId.java
+++ b/streams/src/main/java/org/apache/kafka/streams/processor/TaskId.java
@@ -16,11 +16,14 @@
  */
 package org.apache.kafka.streams.processor;
 
+import org.apache.kafka.streams.errors.TaskIdFormatException;
+
 import java.io.DataInputStream;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.nio.ByteBuffer;
 import java.util.Objects;
+
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -80,6 +83,35 @@ public String toString() {
         return namedTopology != null ? namedTopology + "_" + topicGroupId + "_" + partition : topicGroupId + "_" + partition;
     }
 
+    /**
+     * @throws TaskIdFormatException if the taskIdStr is not a valid {@link TaskId}
+     */
+    public static TaskId parse(final String taskIdStr) {
+        final int firstIndex = taskIdStr.indexOf('_');
+        final int secondIndex = taskIdStr.indexOf('_', firstIndex + 1);
+        if (firstIndex <= 0 || firstIndex + 1 >= taskIdStr.length()) {
+            throw new TaskIdFormatException(taskIdStr);
+        }
+
+        try {
+            // If only one copy of '_' exists, there is no named topology in the string
+            if (secondIndex < 0) {
+                final int topicGroupId = Integer.parseInt(taskIdStr.substring(0, firstIndex));
+                final int partition = Integer.parseInt(taskIdStr.substring(firstIndex + 1));
+
+                return new TaskId(topicGroupId, partition);
+            } else {
+                final String namedTopology = taskIdStr.substring(0, firstIndex);
+                final int topicGroupId = Integer.parseInt(taskIdStr.substring(firstIndex + 1, secondIndex));
+                final int partition = Integer.parseInt(taskIdStr.substring(secondIndex + 1));
+
+                return new TaskId(topicGroupId, partition, namedTopology);
+            }
+        } catch (final Exception e) {
+            throw new TaskIdFormatException(taskIdStr);
+        }
+    }
+
     /**
      * @throws IOException if cannot write to output stream
      * @deprecated since 3.0, for internal use, will be removed
diff --git a/streams/src/main/java/org/apache/kafka/streams/processor/TaskMetadata.java b/streams/src/main/java/org/apache/kafka/streams/processor/TaskMetadata.java
index a35b7281118d7..f5a5a695bfdf7 100644
--- a/streams/src/main/java/org/apache/kafka/streams/processor/TaskMetadata.java
+++ b/streams/src/main/java/org/apache/kafka/streams/processor/TaskMetadata.java
@@ -40,6 +40,19 @@ public class TaskMetadata {
 
     private final Optional<Long> timeCurrentIdlingStarted;
 
+    /**
+     * @deprecated since 3.0, not intended for public use
+     */
+    @Deprecated
+    public TaskMetadata(final String taskId,
+                        final Set<TopicPartition> topicPartitions,
+                        final Map<TopicPartition, Long> committedOffsets,
+                        final Map<TopicPartition, Long> endOffsets,
+                        final Optional<Long> timeCurrentIdlingStarted) {
+        this(TaskId.parse(taskId), topicPartitions, committedOffsets, endOffsets, timeCurrentIdlingStarted);
+    }
+
+    // For internal use -- not a public API
     public TaskMetadata(final TaskId taskId,
                         final Set<TopicPartition> topicPartitions,
                         final Map<TopicPartition, Long> committedOffsets,
diff --git a/streams/src/test/java/org/apache/kafka/streams/processor/internals/StateDirectoryTest.java b/streams/src/test/java/org/apache/kafka/streams/processor/internals/StateDirectoryTest.java
index b17169c64f143..fb1a486b573ed 100644
--- a/streams/src/test/java/org/apache/kafka/streams/processor/internals/StateDirectoryTest.java
+++ b/streams/src/test/java/org/apache/kafka/streams/processor/internals/StateDirectoryTest.java
@@ -148,6 +148,18 @@ private void assertPermissions(final File file) {
         }
     }
 
+    @Test
+    public void shouldParseUnnamedTaskId() {
+        final TaskId task = new TaskId(1, 0);
+        assertThat(TaskId.parse(task.toString()), equalTo(task));
+    }
+
+    @Test
+    public void shouldParseNamedTaskId() {
+        final TaskId task = new TaskId(1, 0, "namedTopology");
+        assertThat(TaskId.parse(task.toString()), equalTo(task));
+    }
+
     @Test
     public void shouldCreateTaskStateDirectory() {
         final TaskId taskId = new TaskId(0, 0);