diff --git a/.github/workflows/ci-instrumentation-canary.yml b/.github/workflows/ci-instrumentation-canary.yml
index 7dde977e0..e257bb255 100644
--- a/.github/workflows/ci-instrumentation-canary.yml
+++ b/.github/workflows/ci-instrumentation-canary.yml
@@ -25,6 +25,7 @@ jobs:
           - ethon
           - excon
           - faraday
+          - grape
           - graphql
           - http
           - http_client
diff --git a/.github/workflows/ci-instrumentation.yml b/.github/workflows/ci-instrumentation.yml
index d7d248d26..0a37533ac 100644
--- a/.github/workflows/ci-instrumentation.yml
+++ b/.github/workflows/ci-instrumentation.yml
@@ -29,6 +29,7 @@ jobs:
           - ethon
           - excon
           - faraday
+          - grape
           - graphql
           - http
           - http_client
diff --git a/.toys/.data/releases.yml b/.toys/.data/releases.yml
index 2401731bc..985a4ceda 100644
--- a/.toys/.data/releases.yml
+++ b/.toys/.data/releases.yml
@@ -29,6 +29,10 @@ commit_lint:
 #  *  changelog_path: Path to CHANGLEOG.md relative to the gem directory.
 #     (Required only if it is not in the expected location.)
 gems:
+  - name: opentelemetry-instrumentation-grape
+    directory: instrumentation/grape
+    version_constant: [OpenTelemetry, Instrumentation, Grape, VERSION]
+
   - name: opentelemetry-instrumentation-racecar
     directory: instrumentation/racecar
     version_constant: [OpenTelemetry, Instrumentation, Racecar, VERSION]
diff --git a/instrumentation/all/Gemfile b/instrumentation/all/Gemfile
index da7318213..636f92c50 100644
--- a/instrumentation/all/Gemfile
+++ b/instrumentation/all/Gemfile
@@ -8,5 +8,6 @@ source 'https://rubygems.org'
 
 gemspec
 
+gem 'opentelemetry-instrumentation-grape', path: '../grape'
 gem 'opentelemetry-instrumentation-racecar', path: '../racecar'
 gem 'opentelemetry-instrumentation-rake', path: '../rake'
diff --git a/instrumentation/all/lib/opentelemetry/instrumentation/all.rb b/instrumentation/all/lib/opentelemetry/instrumentation/all.rb
index 71abefca9..32756451d 100644
--- a/instrumentation/all/lib/opentelemetry/instrumentation/all.rb
+++ b/instrumentation/all/lib/opentelemetry/instrumentation/all.rb
@@ -4,6 +4,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+require 'opentelemetry-instrumentation-grape'
 require 'opentelemetry-instrumentation-trilogy'
 require 'opentelemetry-instrumentation-active_support'
 require 'opentelemetry-instrumentation-action_pack'
diff --git a/instrumentation/all/opentelemetry-instrumentation-all.gemspec b/instrumentation/all/opentelemetry-instrumentation-all.gemspec
index ced5dc6ee..96ef79c2e 100644
--- a/instrumentation/all/opentelemetry-instrumentation-all.gemspec
+++ b/instrumentation/all/opentelemetry-instrumentation-all.gemspec
@@ -35,6 +35,7 @@ Gem::Specification.new do |spec|
   spec.add_dependency 'opentelemetry-instrumentation-ethon', '~> 0.20.0'
   spec.add_dependency 'opentelemetry-instrumentation-excon', '~> 0.20.0'
   spec.add_dependency 'opentelemetry-instrumentation-faraday', '~> 0.22.0'
+  spec.add_dependency 'opentelemetry-instrumentation-grape', '~> 0.1.0'
   spec.add_dependency 'opentelemetry-instrumentation-graphql', '~> 0.24.0'
   spec.add_dependency 'opentelemetry-instrumentation-http', '~> 0.21.0'
   spec.add_dependency 'opentelemetry-instrumentation-http_client', '~> 0.21.0'
diff --git a/instrumentation/grape/.rubocop.yml b/instrumentation/grape/.rubocop.yml
new file mode 100644
index 000000000..1248a2f82
--- /dev/null
+++ b/instrumentation/grape/.rubocop.yml
@@ -0,0 +1 @@
+inherit_from: ../../.rubocop.yml
diff --git a/instrumentation/grape/.yardopts b/instrumentation/grape/.yardopts
new file mode 100644
index 000000000..33496b784
--- /dev/null
+++ b/instrumentation/grape/.yardopts
@@ -0,0 +1,9 @@
+--no-private
+--title=OpenTelemetry Grape Instrumentation
+--markup=markdown
+--main=README.md
+./lib/opentelemetry/instrumentation/**/*.rb
+./lib/opentelemetry/instrumentation.rb
+-
+README.md
+CHANGELOG.md
diff --git a/instrumentation/grape/Appraisals b/instrumentation/grape/Appraisals
new file mode 100644
index 000000000..f12843271
--- /dev/null
+++ b/instrumentation/grape/Appraisals
@@ -0,0 +1,29 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+appraise 'grape-1.2' do
+  gem 'grape', '~> 1.2'
+end
+
+appraise 'grape-1.3' do
+  gem 'grape', '~> 1.3'
+end
+
+appraise 'grape-1.4' do
+  gem 'grape', '~> 1.4'
+end
+
+appraise 'grape-1.5' do
+  gem 'grape', '~> 1.5'
+end
+
+appraise 'grape-1.6' do
+  gem 'grape', '~> 1.6'
+end
+
+appraise 'grape-1.7' do
+  gem 'grape', '~> 1.7'
+end
diff --git a/instrumentation/grape/CHANGELOG.md b/instrumentation/grape/CHANGELOG.md
new file mode 100644
index 000000000..ba9491294
--- /dev/null
+++ b/instrumentation/grape/CHANGELOG.md
@@ -0,0 +1 @@
+# Release History: opentelemetry-instrumentation-grape
diff --git a/instrumentation/grape/Gemfile b/instrumentation/grape/Gemfile
new file mode 100644
index 000000000..ed1ec924e
--- /dev/null
+++ b/instrumentation/grape/Gemfile
@@ -0,0 +1,18 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+source 'https://rubygems.org'
+
+# DO NOT ADD DEPENDENCIES HERE!
+# Please declare a minimum development dependency in the gemspec,
+# then target specific versions in the Appraisals file.
+
+gemspec
+
+group :test do
+  gem 'opentelemetry-instrumentation-base', path: '../base'
+  gem 'opentelemetry-instrumentation-rack', path: '../rack'
+end
diff --git a/instrumentation/grape/LICENSE b/instrumentation/grape/LICENSE
new file mode 100644
index 000000000..1ef7dad2c
--- /dev/null
+++ b/instrumentation/grape/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
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+
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+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
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+
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+      of this License, Derivative Works shall not include works that remain
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+
+      "Contribution" shall mean any work of authorship, including
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
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+      You may add Your own copyright statement to Your modifications and
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+      the conditions stated in this License.
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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+      appropriateness of using or redistributing the Work and assume any
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+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+      file or class name and description of purpose be included on the
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+
+   Copyright The OpenTelemetry 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,
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diff --git a/instrumentation/grape/README.md b/instrumentation/grape/README.md
new file mode 100644
index 000000000..e1d091f15
--- /dev/null
+++ b/instrumentation/grape/README.md
@@ -0,0 +1,91 @@
+# OpenTelemetry Grape Instrumentation
+
+The Grape instrumentation is a community-maintained instrumentation for [Grape][grape], a REST-like API framework for Ruby.
+
+It relies on the Grape built-in support for `ActiveSupport::Notifications` (more info [here](https://github.com/ruby-grape/grape#active-support-instrumentation)) and the [OpenTelemetry Rack instrumentation](opentelemetry-rack-instrumentation).
+
+It currently supports the following events:
+
+- `endpoint_run.grape`
+- `endpoint_render.grape`
+- `endpoint_run_filters.grape`
+- `format_response.grape`
+
+## How do I get started?
+
+Install the gem using:
+
+```
+gem install opentelemetry-instrumentation-grape
+```
+
+Or, if you use [bundler][bundler-home], include `opentelemetry-instrumentation-grape` in your `Gemfile`.
+
+## Usage
+
+To use the instrumentation, call `use` with the name of the instrumentation:
+
+```ruby
+OpenTelemetry::SDK.configure do |c|
+  c.use 'OpenTelemetry::Instrumentation::Grape'
+end
+```
+
+Grape is "designed to run on Rack or complement existing web application frameworks such as Rails and Sinatra". As a result, this instrumentation uses the Rack instrumentation and modifies the Rack spans, modifying the span name and adding Grape attributes and events. It is recommended to use it along with Rails and/or Sinatra instrumentations, if any of these frameworks are being used.
+
+Alternatively, you can also call `use_all` to install all the available instrumentation.
+
+```ruby
+OpenTelemetry::SDK.configure do |c|
+  c.use_all
+end
+```
+
+### Configuration options
+
+#### `:ignored_events` (array)
+
+Indicate if any events should not produce spans.
+
+- Accepted values: `:endpoint_render`, `:endpoint_run_filters`, `:format_response`.
+- Defaults to `[]` (no ignored events).
+
+Example:
+
+```ruby
+OpenTelemetry::SDK.configure do |c|
+  c.use 'OpenTelemetry::Instrumentation::Grape', { ignored_events: [:endpoint_run_filters] }
+end
+```
+
+Note that the `endpoint_run` event cannot be ignored. If you need to disable the instrumentation, set `:enabled` to `false`:
+
+```ruby
+OpenTelemetry::SDK.configure do |c|
+  config = { 'OpenTelemetry::Instrumentation::Grape' => { enabled: false } }
+  c.use_all(config)
+end
+```
+
+## Examples
+
+Example usage can be seen in the `./example/trace_demonstration.rb` file [here](https://github.com/open-telemetry/opentelemetry-ruby-contrib/blob/main/instrumentation/grape/example/trace_demonstration.rb)
+
+## How can I get involved?
+
+The `opentelemetry-instrumentation-grape` gem source is [on github][repo-github], along with related gems including `opentelemetry-api` and `opentelemetry-sdk`.
+
+The OpenTelemetry Ruby gems are maintained by the OpenTelemetry-Ruby special interest group (SIG). You can get involved by joining us in [GitHub Discussions][discussions-url] or attending our weekly meeting. See the [meeting calendar][community-meetings] for dates and times. For more information on this and other language SIGs, see the OpenTelemetry [community page][ruby-sig].
+
+## License
+
+The `opentelemetry-instrumentation-grape` gem is distributed under the Apache 2.0 license. See [LICENSE][license-github] for more information.
+
+[bundler-home]: https://bundler.io
+[repo-github]: https://github.com/open-telemetry/opentelemetry-ruby
+[license-github]: https://github.com/open-telemetry/opentelemetry-ruby-contrib/blob/main/LICENSE
+[ruby-sig]: https://github.com/open-telemetry/community#ruby-sig
+[community-meetings]: https://github.com/open-telemetry/community#community-meetings
+[discussions-url]: https://github.com/open-telemetry/opentelemetry-ruby/discussions
+[grape]: https://github.com/ruby-grape/grape
+[opentelemetry-rack-instrumentation]: https://github.com/open-telemetry/opentelemetry-ruby-contrib/tree/main/instrumentation/rack
diff --git a/instrumentation/grape/Rakefile b/instrumentation/grape/Rakefile
new file mode 100644
index 000000000..1a64ba842
--- /dev/null
+++ b/instrumentation/grape/Rakefile
@@ -0,0 +1,28 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require 'bundler/gem_tasks'
+require 'rake/testtask'
+require 'yard'
+require 'rubocop/rake_task'
+
+RuboCop::RakeTask.new
+
+Rake::TestTask.new :test do |t|
+  t.libs << 'test'
+  t.libs << 'lib'
+  t.test_files = FileList['test/**/*_test.rb']
+end
+
+YARD::Rake::YardocTask.new do |t|
+  t.stats_options = ['--list-undoc']
+end
+
+if RUBY_ENGINE == 'truffleruby'
+  task default: %i[test]
+else
+  task default: %i[test rubocop yard]
+end
diff --git a/instrumentation/grape/example/trace_demonstration.rb b/instrumentation/grape/example/trace_demonstration.rb
new file mode 100644
index 000000000..ca93f5eea
--- /dev/null
+++ b/instrumentation/grape/example/trace_demonstration.rb
@@ -0,0 +1,54 @@
+# frozen_string_literal: true
+
+require 'bundler/inline'
+
+gemfile(true) do
+  source 'https://rubygems.org'
+  gem 'opentelemetry-api'
+  gem 'opentelemetry-instrumentation-grape'
+  gem 'opentelemetry-sdk'
+  gem 'grape'
+end
+
+require 'opentelemetry-instrumentation-rack'
+
+# Export traces to console
+ENV['OTEL_TRACES_EXPORTER'] ||= 'console'
+
+OpenTelemetry::SDK.configure do |c|
+  c.service_name = 'trace_demonstration'
+  c.use_all  # this will only require instrumentation gems it finds that are installed by bundler.
+end
+
+# A basic Grape API example
+class ExampleAPI < Grape::API
+  format :json
+
+  desc 'Return a greeting message'
+  get :hello do
+    { message: 'Hello, world!' }
+  end
+
+  desc 'Return information about a user'
+  # Filters
+  before { sleep(0.01) }
+  after { sleep(0.01) }
+  params do
+    requires :id, type: Integer, desc: 'User ID'
+  end
+  get 'users/:id' do
+    { id: params[:id], name: 'John Doe', email: 'johndoe@example.com' }
+  end
+end
+
+# Set up fake Rack application
+builder = Rack::Builder.app do
+  # Integration is automatic in web frameworks but plain Rack applications require this line.
+  # Enable it in your config.ru.
+  use OpenTelemetry::Instrumentation::Rack::Middlewares::TracerMiddleware
+  run ExampleAPI
+end
+app = Rack::MockRequest.new(builder)
+
+app.get('/hello')
+app.get('/users/1')
diff --git a/instrumentation/grape/lib/opentelemetry-instrumentation-grape.rb b/instrumentation/grape/lib/opentelemetry-instrumentation-grape.rb
new file mode 100644
index 000000000..baceb3cb7
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry-instrumentation-grape.rb
@@ -0,0 +1,7 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require_relative './opentelemetry/instrumentation'
diff --git a/instrumentation/grape/lib/opentelemetry/instrumentation.rb b/instrumentation/grape/lib/opentelemetry/instrumentation.rb
new file mode 100644
index 000000000..2bb04e9a9
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry/instrumentation.rb
@@ -0,0 +1,19 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# OpenTelemetry is an open source observability framework, providing a
+# general-purpose API, SDK, and related tools required for the instrumentation
+# of cloud-native software, frameworks, and libraries.
+#
+# The OpenTelemetry module provides global accessors for telemetry objects.
+# See the documentation for the `opentelemetry-api` gem for details.
+module OpenTelemetry
+  # Instrumentation should be able to handle the case when the library is not installed on a user's system.
+  module Instrumentation
+  end
+end
+
+require_relative './instrumentation/grape'
diff --git a/instrumentation/grape/lib/opentelemetry/instrumentation/grape.rb b/instrumentation/grape/lib/opentelemetry/instrumentation/grape.rb
new file mode 100644
index 000000000..59d8f737c
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry/instrumentation/grape.rb
@@ -0,0 +1,19 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require 'opentelemetry'
+require 'opentelemetry-instrumentation-base'
+
+module OpenTelemetry
+  module Instrumentation
+    # Contains the OpenTelemetry instrumentation for the Grape gem
+    module Grape
+    end
+  end
+end
+
+require_relative './grape/instrumentation'
+require_relative './grape/version'
diff --git a/instrumentation/grape/lib/opentelemetry/instrumentation/grape/event_handler.rb b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/event_handler.rb
new file mode 100644
index 000000000..5665abd19
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/event_handler.rb
@@ -0,0 +1,111 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+module OpenTelemetry
+  module Instrumentation
+    module Grape
+      # Handles the events instrumented with ActiveSupport notifications.
+      # These handlers contain all the logic needed to create and connect spans.
+      class EventHandler
+        class << self
+          # Handles the start of the endpoint_run event, modifying the parent Rack span
+          # and recording it as a span event
+          def endpoint_run(_name, start, _finish, _id, payload)
+            span = OpenTelemetry::Instrumentation::Rack.current_span
+            return unless span.recording?
+
+            endpoint = payload[:endpoint]
+            span.name = span_name(endpoint)
+            span.add_attributes(attributes_from_grape_endpoint(endpoint))
+
+            span.add_event('grape.endpoint_run', timestamp: start)
+            handle_payload_exception(span, payload[:exception_object]) if payload[:exception_object]
+          end
+
+          # Handles the endpoint_render event, recording it as a span event
+          def endpoint_render(_name, start, _finish, _id, payload)
+            span = OpenTelemetry::Instrumentation::Rack.current_span
+            return unless span.recording?
+
+            span.add_event('grape.endpoint_render', timestamp: start)
+          end
+
+          # Handles the endpoint_run_filters events, recording them as a span event
+          def endpoint_run_filters(_name, start, finish, _id, payload)
+            span = OpenTelemetry::Instrumentation::Rack.current_span
+            return unless span.recording?
+
+            filters = payload[:filters]
+            type = payload[:type]
+
+            # Prevent submitting empty filters
+            return if (!filters || filters.empty?) || !type || (finish - start).zero?
+
+            attributes = { 'grape.filter.type' => type.to_s }
+            span.add_event('grape.endpoint_run_filters', attributes: attributes, timestamp: start)
+          end
+
+          # Handles the format_response event, recording it as a span event
+          def format_response(_name, start, _finish, _id, payload)
+            span = OpenTelemetry::Instrumentation::Rack.current_span
+            return unless span.recording?
+
+            attributes = {
+              'grape.formatter.type' => formatter_type(payload[:formatter])
+            }
+            span.add_event('grape.format_response', attributes: attributes, timestamp: start)
+            handle_payload_exception(span, payload[:exception_object]) if payload[:exception_object]
+          end
+
+          private
+
+          def span_name(endpoint)
+            "HTTP #{request_method(endpoint)} #{path(endpoint)}"
+          end
+
+          def attributes_from_grape_endpoint(endpoint)
+            {
+              OpenTelemetry::SemanticConventions::Trace::CODE_NAMESPACE => endpoint.options[:for]&.base.to_s,
+              OpenTelemetry::SemanticConventions::Trace::HTTP_ROUTE => path(endpoint)
+            }
+          end
+
+          # ActiveSupport::Notifications will attach a `:exception_object` to the payload if there was
+          # an error raised during the execution of the &block associated to the Notification.
+          def handle_payload_exception(span, exception)
+            # Only record exceptions if they were not raised (i.e. do not have a status code in Grape)
+            # or do not have a 5xx status code. These exceptions are recorded by Rack.
+            # See instrumentation/rack/lib/opentelemetry/instrumentation/rack/middlewares/tracer_middleware.rb#L155
+            return unless exception.respond_to?('status') && exception.status.to_i < 500
+
+            span.record_exception(exception)
+            span.status = OpenTelemetry::Trace::Status.error("Unhandled exception of type: #{exception.class}")
+          end
+
+          def request_method(endpoint)
+            endpoint.options[:method]&.first
+          end
+
+          def path(endpoint)
+            return '' unless endpoint.routes
+
+            namespace = endpoint.routes.first.namespace
+            version = endpoint.routes.first.options[:version] || ''
+            prefix = endpoint.routes.first.options[:prefix]&.to_s || ''
+            parts = [prefix, version] + namespace.split('/') + endpoint.options[:path]
+            parts.reject { |p| p.blank? || p.eql?('/') }.join('/').prepend('/')
+          end
+
+          def formatter_type(formatter)
+            basename = formatter.name.split('::').last
+            # Convert from CamelCase to snake_case
+            basename.gsub(/([a-z\d])([A-Z])/, '\1_\2').downcase
+          end
+        end
+      end
+    end
+  end
+end
diff --git a/instrumentation/grape/lib/opentelemetry/instrumentation/grape/instrumentation.rb b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/instrumentation.rb
new file mode 100644
index 000000000..d31def440
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/instrumentation.rb
@@ -0,0 +1,51 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+module OpenTelemetry
+  module Instrumentation
+    module Grape
+      # The Instrumentation class contains logic to detect and install the Grape instrumentation
+      class Instrumentation < OpenTelemetry::Instrumentation::Base
+        # Minimum Grape version needed for compatibility with this instrumentation
+        MINIMUM_VERSION = Gem::Version.new('1.2.0')
+
+        install do |_config|
+          install_rack_instrumentation
+          require_dependencies
+          subscribe
+        end
+
+        present do
+          defined?(::Grape)
+        end
+
+        compatible do
+          !defined?(::ActiveSupport::Notifications).nil? && gem_version >= MINIMUM_VERSION
+        end
+
+        option :ignored_events, default: [], validate: :array
+
+        private
+
+        def gem_version
+          Gem::Version.new(::Grape::VERSION)
+        end
+
+        def install_rack_instrumentation
+          OpenTelemetry::Instrumentation::Rack::Instrumentation.instance.install({})
+        end
+
+        def require_dependencies
+          require_relative 'subscriber'
+        end
+
+        def subscribe
+          Subscriber.subscribe
+        end
+      end
+    end
+  end
+end
diff --git a/instrumentation/grape/lib/opentelemetry/instrumentation/grape/subscriber.rb b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/subscriber.rb
new file mode 100644
index 000000000..004c558e5
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/subscriber.rb
@@ -0,0 +1,49 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require_relative 'event_handler'
+
+module OpenTelemetry
+  module Instrumentation
+    module Grape
+      # Manages all subscriptions, both for custom subscribers and built-in notifications
+      class Subscriber
+        class << self
+          # Subscribe to all notifications (except those specified in the :ignored_events configs)
+          def subscribe
+            subscriptions = filter_ignored_events(SUBSCRIPTIONS)
+            subscriptions.each do |subscriber_method, event|
+              ::ActiveSupport::Notifications.subscribe(event) do |*args|
+                EventHandler.send(subscriber_method, *args)
+              end
+            end
+          end
+
+          private
+
+          # ActiveSupport::Notifications that can be subscribed to using the documented `.subscribe` interface.
+          # Reference: https://api.rubyonrails.org/classes/ActiveSupport/Notifications.html#method-c-subscribe
+          SUBSCRIPTIONS = {
+            endpoint_run: 'endpoint_run.grape',
+            endpoint_render: 'endpoint_render.grape',
+            endpoint_run_filters: 'endpoint_run_filters.grape',
+            format_response: 'format_response.grape'
+          }.freeze
+
+          def filter_ignored_events(subscriptions)
+            # Do not ignore 'endpoint_run' event
+            ignored_events = config[:ignored_events] - [:endpoint_run]
+            subscriptions.reject { |event| ignored_events.include?(event) }
+          end
+
+          def config
+            Grape::Instrumentation.instance.config
+          end
+        end
+      end
+    end
+  end
+end
diff --git a/instrumentation/grape/lib/opentelemetry/instrumentation/grape/version.rb b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/version.rb
new file mode 100644
index 000000000..36d3a5f23
--- /dev/null
+++ b/instrumentation/grape/lib/opentelemetry/instrumentation/grape/version.rb
@@ -0,0 +1,14 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+module OpenTelemetry
+  module Instrumentation
+    module Grape
+      # Current gem version
+      VERSION = '0.1.0'
+    end
+  end
+end
diff --git a/instrumentation/grape/opentelemetry-instrumentation-grape.gemspec b/instrumentation/grape/opentelemetry-instrumentation-grape.gemspec
new file mode 100644
index 000000000..35838f115
--- /dev/null
+++ b/instrumentation/grape/opentelemetry-instrumentation-grape.gemspec
@@ -0,0 +1,54 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+lib = File.expand_path('lib', __dir__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'opentelemetry/instrumentation/grape/version'
+
+Gem::Specification.new do |spec|
+  spec.name        = 'opentelemetry-instrumentation-grape'
+  spec.version     = OpenTelemetry::Instrumentation::Grape::VERSION
+  spec.authors     = ['OpenTelemetry Authors']
+  spec.email       = ['cncf-opentelemetry-contributors@lists.cncf.io']
+
+  spec.summary     = 'Grape instrumentation for the OpenTelemetry framework'
+  spec.description = 'Grape instrumentation for the OpenTelemetry framework'
+  spec.homepage    = 'https://github.com/open-telemetry/opentelemetry-ruby-contrib'
+  spec.license     = 'Apache-2.0'
+
+  spec.files = Dir.glob('lib/**/*.rb') +
+               Dir.glob('*.md') +
+               ['LICENSE', '.yardopts']
+  spec.require_paths = ['lib']
+  spec.required_ruby_version = '>= 3.0'
+
+  spec.add_dependency 'opentelemetry-api', '~> 1.1.0'
+  spec.add_dependency 'opentelemetry-instrumentation-base', '~> 0.21.1'
+  spec.add_dependency 'opentelemetry-instrumentation-rack', '~> 0.21'
+
+  spec.add_development_dependency 'activesupport'
+  spec.add_development_dependency 'appraisal', '~> 2.2.0'
+  spec.add_development_dependency 'bundler', '~> 2.4'
+  spec.add_development_dependency 'grape', '~> 1.2'
+  spec.add_development_dependency 'minitest', '~> 5.0'
+  spec.add_development_dependency 'opentelemetry-sdk', '~> 1.0'
+  spec.add_development_dependency 'opentelemetry-test-helpers'
+  spec.add_development_dependency 'rack-test'
+  spec.add_development_dependency 'rake', '~> 13.0'
+  spec.add_development_dependency 'rspec-mocks'
+  spec.add_development_dependency 'rubocop', '~> 1.48.1'
+  spec.add_development_dependency 'simplecov', '~> 0.17.1'
+  spec.add_development_dependency 'webmock', '~> 3.7.6'
+  spec.add_development_dependency 'yard', '~> 0.9'
+  spec.add_development_dependency 'yard-doctest', '~> 0.1.6'
+
+  if spec.respond_to?(:metadata)
+    spec.metadata['changelog_uri'] = "https://rubydoc.info/gems/#{spec.name}/#{spec.version}/file/CHANGELOG.md"
+    spec.metadata['source_code_uri'] = 'https://github.com/open-telemetry/opentelemetry-ruby-contrib/tree/main/instrumentation/grape'
+    spec.metadata['bug_tracker_uri'] = 'https://github.com/open-telemetry/opentelemetry-ruby-contrib/issues'
+    spec.metadata['documentation_uri'] = "https://rubydoc.info/gems/#{spec.name}/#{spec.version}"
+  end
+end
diff --git a/instrumentation/grape/test/opentelemetry/instrumentation/grape/instrumentation_test.rb b/instrumentation/grape/test/opentelemetry/instrumentation/grape/instrumentation_test.rb
new file mode 100644
index 000000000..b3119e2bd
--- /dev/null
+++ b/instrumentation/grape/test/opentelemetry/instrumentation/grape/instrumentation_test.rb
@@ -0,0 +1,67 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require 'test_helper'
+
+require_relative '../../../../lib/opentelemetry/instrumentation/grape'
+
+describe OpenTelemetry::Instrumentation::Grape do
+  let(:instrumentation) { OpenTelemetry::Instrumentation::Grape::Instrumentation.instance }
+
+  it 'has #name' do
+    _(instrumentation.name).must_equal 'OpenTelemetry::Instrumentation::Grape'
+  end
+
+  it 'has #version' do
+    _(instrumentation.version).wont_be_nil
+    _(instrumentation.version).wont_be_empty
+  end
+
+  describe '#install' do
+    it 'accepts argument' do
+      _(instrumentation.install({})).must_equal(true)
+      instrumentation.instance_variable_set(:@installed, false)
+    end
+  end
+
+  describe '#compatible' do
+    it 'returns false for older gem versions' do
+      stub_const('::Grape::VERSION', '0.12.0')
+      _(instrumentation.compatible?).must_equal false
+    end
+
+    it 'returns true for newer gem versions' do
+      stub_const('::Grape::VERSION', '1.7.0')
+      _(instrumentation.compatible?).must_equal true
+    end
+  end
+
+  describe '#config' do
+    before do
+      # Simulate a fresh install
+      uninstall_and_cleanup
+      instrumentation.install(config)
+    end
+
+    describe 'when configs are empty' do
+      let(:config) { {} }
+
+      it 'is installed with default settings when configs are empty' do
+        _(instrumentation).must_be :installed?
+        _(instrumentation.config[:ignored_events]).must_be_empty
+      end
+    end
+
+    describe 'when configs are not empty' do
+      let(:config) { { ignored_events: [:endpoint_render] } }
+
+      it 'is installed with the specified configs' do
+        _(instrumentation).must_be :installed?
+        _(instrumentation.config[:ignored_events]).must_equal [:endpoint_render]
+      end
+    end
+  end
+end
diff --git a/instrumentation/grape/test/opentelemetry/instrumentation/grape_test.rb b/instrumentation/grape/test/opentelemetry/instrumentation/grape_test.rb
new file mode 100644
index 000000000..1757f32da
--- /dev/null
+++ b/instrumentation/grape/test/opentelemetry/instrumentation/grape_test.rb
@@ -0,0 +1,374 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require 'test_helper'
+
+require_relative '../../../lib/opentelemetry/instrumentation/grape'
+
+describe OpenTelemetry::Instrumentation::Grape do
+  include Rack::Test::Methods
+
+  let(:instrumentation) { OpenTelemetry::Instrumentation::Grape::Instrumentation.instance }
+  let(:exporter) { EXPORTER }
+  let(:spans) { exporter.finished_spans }
+  let(:span) { spans.first }
+  let(:config) { {} }
+
+  before do
+    # Simulate fresh install
+    uninstall_and_cleanup
+    instrumentation.install(config)
+  end
+
+  describe '#endpoint' do
+    describe 'when a basic API endpoint receives a request' do
+      class BasicAPI < Grape::API
+        format :json
+        get :hello do
+          { message: 'Hello, world!' }
+        end
+      end
+
+      let(:app) { build_rack_app(BasicAPI) }
+      let(:request_path) { '/hello' }
+      let(:expected_span_name) { 'HTTP GET /hello' }
+
+      before { app.get request_path }
+
+      it 'produces a Rack span with the expected name and attributes' do
+        _(spans.length).must_equal 1
+
+        _(span.instrumentation_scope.name).must_equal 'OpenTelemetry::Instrumentation::Rack'
+        _(span.name).must_equal expected_span_name
+        _(span.attributes['code.namespace']).must_equal 'BasicAPI'
+        _(span.attributes['http.route']).must_equal '/hello'
+      end
+
+      it 'adds an endpoint_run span event with the expected attributes' do
+        run_events = events_per_name('grape.endpoint_run')
+
+        _(run_events.length).must_equal 1
+        _(run_events.first.attributes).must_be_empty
+      end
+
+      it 'adds an endpoint_render span event with the expected attributes' do
+        render_events = events_per_name('grape.endpoint_render')
+
+        _(render_events.length).must_equal 1
+        _(render_events.first.attributes).must_be_empty
+      end
+
+      it 'does not add an endpoint_run_filters span' do
+        filter_events = events_per_name('grape.endpoint_run_filters')
+
+        _(filter_events.length).must_equal 0
+      end
+
+      it 'adds a format_response span event with the expected attributes' do
+        format_events = events_per_name('grape.format_response')
+
+        _(format_events.length).must_equal 1
+        _(format_events.first.attributes['grape.formatter.type']).must_equal 'json'
+      end
+    end
+
+    describe 'when an API endpoint with a route param receives a request' do
+      class RouteParamAPI < Grape::API
+        format :json
+        params do
+          requires :id, type: Integer, desc: 'User ID'
+        end
+        get 'users/:id' do
+          { id: params[:id], name: 'John Doe', email: 'johndoe@example.com' }
+        end
+      end
+
+      let(:app) { build_rack_app(RouteParamAPI) }
+      let(:request_path) { '/users/1' }
+      let(:expected_span_name) { 'HTTP GET /users/:id' }
+
+      before { app.get request_path }
+
+      it 'sets the correct span name and adds the correct path attribute to the Rack span' do
+        _(span.name).must_equal expected_span_name
+        _(span.attributes['http.route']).must_equal '/users/:id'
+      end
+    end
+
+    describe 'when an API endpoint with version and prefix receives a request' do
+      class VersionedWithPrefixAPI < Grape::API
+        prefix :api
+        version 'v1'
+        get :hello do
+          { message: 'Hello, world!' }
+        end
+      end
+
+      let(:app) { build_rack_app(VersionedWithPrefixAPI) }
+      let(:request_path) { '/api/v1/hello' }
+      let(:expected_span_name) { 'HTTP GET /api/v1/hello' }
+
+      before { app.get request_path }
+
+      it 'sets the correct span name and adds the correct path attribute to the Rack span' do
+        _(span.name).must_equal expected_span_name
+        _(span.attributes['http.route']).must_equal '/api/v1/hello'
+      end
+    end
+
+    describe 'when an API endpoint nested in a namespace receives a request' do
+      class NestedAPI < Grape::API
+        format :json
+        namespace :internal do
+          resource :users do
+            get do
+              { users: ['John Doe', 'Jane Doe'] }
+            end
+          end
+        end
+      end
+
+      let(:app) { build_rack_app(NestedAPI) }
+      let(:request_path) { '/internal/users' }
+      let(:expected_span_name) { 'HTTP GET /internal/users' }
+
+      before { app.get request_path }
+
+      it 'sets the correct span name and adds the correct path attribute to the Rack span' do
+        _(span.name).must_equal expected_span_name
+        _(span.attributes['http.route']).must_equal '/internal/users'
+      end
+    end
+
+    describe 'when a filtered API endpoint receives a request' do
+      class FilteredAPI < Grape::API
+        before { sleep(0.01) }
+        after { sleep(0.01) }
+        get :filtered do
+          'OK'
+        end
+      end
+
+      let(:app) { build_rack_app(FilteredAPI) }
+      let(:request_path) { '/filtered' }
+      let(:expected_span_name) { 'HTTP GET /filtered' }
+
+      before { app.get request_path }
+
+      it 'produces a Rack span with the expected name' do
+        _(spans.length).must_equal 1
+        _(span.name).must_equal expected_span_name
+      end
+
+      it 'adds two endpoint_run_filters events for before and after filters' do
+        filter_events = events_per_name('grape.endpoint_run_filters')
+
+        _(filter_events.length).must_equal 2
+      end
+
+      it 'adds the before filter event with the expected attributes' do
+        event = events_per_name('grape.endpoint_run_filters').first
+        expected_attributes = { 'grape.filter.type' => 'before' }
+
+        _(event.attributes).must_equal expected_attributes
+      end
+
+      it 'adds the after filter event with the expected attributes' do
+        event = events_per_name('grape.endpoint_run_filters').last
+        expected_attributes = { 'grape.filter.type' => 'after' }
+
+        _(event.attributes).must_equal expected_attributes
+      end
+    end
+
+    describe 'when an API endpoint receives params that raise a validation error' do
+      class ValidationErrorAPI < Grape::API
+        format :json
+        before { sleep(0.01) }
+        params { requires :name, type: String }
+        post :new do
+          status 201
+        end
+      end
+
+      let(:app) { build_rack_app(ValidationErrorAPI) }
+      let(:request_path) { '/new' }
+      let(:expected_span_name) { 'HTTP POST /new' }
+      let(:headers) { { 'Content-Type' => 'application/json' } }
+      let(:expected_error_type) { 'Grape::Exceptions::ValidationErrors' }
+
+      before { app.post request_path, headers: headers, params: {} }
+
+      it 'sets span status to error' do
+        _(span.name).must_equal expected_span_name
+        _(span.status.code).must_equal OpenTelemetry::Trace::Status::ERROR
+        _(span.status.description).must_equal "Unhandled exception of type: #{expected_error_type}"
+      end
+
+      it 'records the exception event' do
+        exception_events = events_per_name('exception')
+
+        _(exception_events.length).must_equal 1
+        _(exception_events.first.attributes['exception.type']).must_equal expected_error_type
+        _(exception_events.first.attributes['exception.message']).must_equal 'name is missing'
+      end
+
+      it 'also records the filter event' do
+        filter_events = events_per_name('grape.endpoint_run_filters')
+
+        _(filter_events.length).must_equal 1
+      end
+    end
+
+    describe 'when an API endpoint raises an error' do
+      class RaisedErrorAPI < Grape::API
+        before { sleep(0.01) }
+        get :failure do
+          raise StandardError, 'Oops!'
+        end
+      end
+
+      let(:app) { build_rack_app(RaisedErrorAPI) }
+      let(:request_path) { '/failure' }
+      let(:expected_span_name) { 'HTTP GET /failure' }
+      let(:expected_error_type) { 'StandardError' }
+
+      before do
+        expect { app.get request_path }.must_raise StandardError
+      end
+
+      it 'sets span status to error' do
+        _(span.name).must_equal expected_span_name
+        _(span.status.code).must_equal OpenTelemetry::Trace::Status::ERROR
+        _(span.status.description).must_equal "Unhandled exception of type: #{expected_error_type}"
+      end
+
+      it 'records the exception event' do
+        exception_events = events_per_name('exception')
+
+        _(exception_events.length).must_equal 1
+        _(exception_events.first.attributes['exception.type']).must_equal expected_error_type
+        _(exception_events.first.attributes['exception.message']).must_equal 'Oops!'
+      end
+
+      it 'records events other than exceptions' do
+        _(events_per_name('grape.endpoint_run').length).must_equal 1
+        _(events_per_name('grape.endpoint_run_filters').length).must_equal 1
+        _(events_per_name('grape.endpoint_render').length).must_equal 1
+      end
+    end
+
+    describe 'when an API endpoint raises an error in the filters' do
+      class ErrorInFilterAPI < Grape::API
+        before { raise StandardError, 'Oops!' }
+        get :filtered do
+          'OK'
+        end
+      end
+
+      let(:app) { build_rack_app(ErrorInFilterAPI) }
+      let(:request_path) { '/filtered' }
+      let(:expected_span_name) { 'HTTP GET /filtered' }
+      let(:expected_error_type) { 'StandardError' }
+
+      before do
+        expect { app.get request_path }.must_raise StandardError
+      end
+
+      it 'records the filter event' do
+        filter_events = events_per_name('grape.endpoint_run_filters')
+
+        _(filter_events.length).must_equal 1
+      end
+
+      it 'sets span status to error' do
+        _(span.name).must_equal expected_span_name
+        _(span.status.code).must_equal OpenTelemetry::Trace::Status::ERROR
+        _(span.status.description).must_equal "Unhandled exception of type: #{expected_error_type}"
+      end
+
+      it 'records the exception event' do
+        exception_events = events_per_name('exception')
+
+        _(exception_events.length).must_equal 1
+        _(exception_events.first.attributes['exception.type']).must_equal expected_error_type
+        _(exception_events.first.attributes['exception.message']).must_equal 'Oops!'
+      end
+    end
+
+    describe 'when an API endpoint raises an error when formatting the response' do
+      class ErrorInFormatterAPI < Grape::API
+        format :xml
+        get :bad_format do
+          'Not OK'
+        end
+      end
+
+      let(:app) { build_rack_app(ErrorInFormatterAPI) }
+      let(:request_path) { '/bad_format' }
+      let(:expected_span_name) { 'HTTP GET /bad_format' }
+      let(:expected_error_type) { 'Grape::Exceptions::InvalidFormatter' }
+
+      before { app.get request_path }
+
+      it 'sets span status to error' do
+        _(span.name).must_equal expected_span_name
+        _(span.status.code).must_equal OpenTelemetry::Trace::Status::ERROR
+      end
+
+      it 'records the exception event' do
+        exception_events = events_per_name('exception')
+
+        _(exception_events.length).must_equal 1
+        _(exception_events.first.attributes['exception.type']).must_equal expected_error_type
+        _(exception_events.first.attributes['exception.message']).must_equal 'cannot convert String to xml'
+      end
+    end
+
+    describe 'when an API endpoint returns an error without raising an exception' do
+      class ErrorResponseAPI < Grape::API
+        get :error_response do
+          error!('Not found', 404)
+        end
+      end
+
+      let(:app) { build_rack_app(ErrorResponseAPI) }
+      let(:request_path) { '/error_response' }
+      let(:expected_span_name) { 'HTTP GET /error_response' }
+
+      before { app.get request_path }
+
+      it 'does not set span status to error' do
+        _(span.name).must_equal expected_span_name
+        _(span.status.code).wont_equal OpenTelemetry::Trace::Status::ERROR
+      end
+    end
+
+    describe 'when an API endpoint receives a request and some events are ignored in the configs' do
+      class IgnoredEventAPI < Grape::API
+        get :success do
+          'OK'
+        end
+      end
+
+      let(:config) { { ignored_events: [:endpoint_render] } }
+      let(:app) { build_rack_app(IgnoredEventAPI) }
+      let(:request_path) { '/success' }
+      let(:expected_span_name) { 'HTTP GET /success' }
+
+      before { app.get request_path }
+
+      it 'produces a Rack span with the expected name' do
+        _(spans.length).must_equal 1
+        _(span.name).must_equal expected_span_name
+      end
+
+      it 'does not add the endpoint_render event to the span' do
+        _(events_per_name('grape.endpoint_render').length).must_equal 0
+      end
+    end
+  end
+end
diff --git a/instrumentation/grape/test/test_helper.rb b/instrumentation/grape/test/test_helper.rb
new file mode 100644
index 000000000..7bc0d82d9
--- /dev/null
+++ b/instrumentation/grape/test/test_helper.rb
@@ -0,0 +1,54 @@
+# frozen_string_literal: true
+
+# Copyright The OpenTelemetry Authors
+#
+# SPDX-License-Identifier: Apache-2.0
+
+require 'bundler/setup'
+Bundler.require(:default, :development, :test)
+
+require 'minitest/autorun'
+require 'webmock/minitest'
+require 'rspec/mocks/minitest_integration'
+
+# global opentelemetry-sdk setup:
+EXPORTER = OpenTelemetry::SDK::Trace::Export::InMemorySpanExporter.new
+span_processor = OpenTelemetry::SDK::Trace::Export::SimpleSpanProcessor.new(EXPORTER)
+
+OpenTelemetry::SDK.configure do |c|
+  c.error_handler = ->(exception:, message:) { raise(exception || message) }
+  c.logger = Logger.new($stderr, level: ENV.fetch('OTEL_LOG_LEVEL', 'fatal').to_sym)
+  c.add_span_processor span_processor
+end
+
+# Helper functions
+def uninstall_and_cleanup
+  instrumentation.instance_variable_set('@installed', false)
+  unsubscribe
+  EXPORTER.reset
+end
+
+def unsubscribe
+  subscriptions = [
+    'endpoint_run.grape',
+    'endpoint_render.grape',
+    'endpoint_run_filters.grape',
+    'format_response.grape'
+  ]
+  subscriptions.each { |e| ActiveSupport::Notifications.unsubscribe(e) }
+end
+
+def build_rack_app(api_class)
+  builder = Rack::Builder.app do
+    use OpenTelemetry::Instrumentation::Rack::Middlewares::TracerMiddleware
+    run api_class
+  end
+  Rack::MockRequest.new(builder)
+end
+
+def events_per_name(name)
+  events = span.events
+  return [] if events.nil?
+
+  events.select { |e| e.name == name }
+end