diff --git a/tokio-util/src/task/join_map.rs b/tokio-util/src/task/join_map.rs
index c9aed537d4b..1fbe274a2f8 100644
--- a/tokio-util/src/task/join_map.rs
+++ b/tokio-util/src/task/join_map.rs
@@ -5,6 +5,7 @@ use std::collections::hash_map::RandomState;
 use std::fmt;
 use std::future::Future;
 use std::hash::{BuildHasher, Hash, Hasher};
+use std::marker::PhantomData;
 use tokio::runtime::Handle;
 use tokio::task::{AbortHandle, Id, JoinError, JoinSet, LocalSet};
 
@@ -626,6 +627,19 @@ where
         }
     }
 
+    /// Returns an iterator visiting all keys in this `JoinMap` in arbitrary order.
+    ///
+    /// If a task has completed, but its output hasn't yet been consumed by a
+    /// call to [`join_next`], this method will still return its key.
+    ///
+    /// [`join_next`]: fn@Self::join_next
+    pub fn keys(&self) -> JoinMapKeys<'_, K, V> {
+        JoinMapKeys {
+            iter: self.tasks_by_key.keys(),
+            _value: PhantomData,
+        }
+    }
+
     /// Returns `true` if this `JoinMap` contains a task for the provided key.
     ///
     /// If the task has completed, but its output hasn't yet been consumed by a
@@ -859,3 +873,32 @@ impl<K: PartialEq> PartialEq for Key<K> {
 }
 
 impl<K: Eq> Eq for Key<K> {}
+
+/// An iterator over the keys of a [`JoinMap`].
+#[derive(Debug, Clone)]
+pub struct JoinMapKeys<'a, K, V> {
+    iter: hashbrown::hash_map::Keys<'a, Key<K>, AbortHandle>,
+    /// To make it easier to change JoinMap in the future, keep V as a generic
+    /// parameter.
+    _value: PhantomData<&'a V>,
+}
+
+impl<'a, K, V> Iterator for JoinMapKeys<'a, K, V> {
+    type Item = &'a K;
+
+    fn next(&mut self) -> Option<&'a K> {
+        self.iter.next().map(|key| &key.key)
+    }
+
+    fn size_hint(&self) -> (usize, Option<usize>) {
+        self.iter.size_hint()
+    }
+}
+
+impl<'a, K, V> ExactSizeIterator for JoinMapKeys<'a, K, V> {
+    fn len(&self) -> usize {
+        self.iter.len()
+    }
+}
+
+impl<'a, K, V> std::iter::FusedIterator for JoinMapKeys<'a, K, V> {}
diff --git a/tokio-util/src/task/mod.rs b/tokio-util/src/task/mod.rs
index de41dd5dbe8..a5f94a898e2 100644
--- a/tokio-util/src/task/mod.rs
+++ b/tokio-util/src/task/mod.rs
@@ -9,4 +9,4 @@ pub use spawn_pinned::LocalPoolHandle;
 
 #[cfg(tokio_unstable)]
 #[cfg_attr(docsrs, doc(cfg(all(tokio_unstable, feature = "rt"))))]
-pub use join_map::JoinMap;
+pub use join_map::{JoinMap, JoinMapKeys};
diff --git a/tokio-util/tests/task_join_map.rs b/tokio-util/tests/task_join_map.rs
index cef08b20252..1ab5f9ba832 100644
--- a/tokio-util/tests/task_join_map.rs
+++ b/tokio-util/tests/task_join_map.rs
@@ -109,6 +109,30 @@ async fn alternating() {
     }
 }
 
+#[tokio::test]
+async fn test_keys() {
+    use std::collections::HashSet;
+
+    let mut map = JoinMap::new();
+
+    assert_eq!(map.len(), 0);
+    map.spawn(1, async {});
+    assert_eq!(map.len(), 1);
+    map.spawn(2, async {});
+    assert_eq!(map.len(), 2);
+
+    let keys = map.keys().collect::<HashSet<&u32>>();
+    assert!(keys.contains(&1));
+    assert!(keys.contains(&2));
+
+    let _ = map.join_next().await.unwrap();
+    let _ = map.join_next().await.unwrap();
+
+    assert_eq!(map.len(), 0);
+    let keys = map.keys().collect::<HashSet<&u32>>();
+    assert!(keys.is_empty());
+}
+
 #[tokio::test(start_paused = true)]
 async fn abort_by_key() {
     let mut map = JoinMap::new();