diff --git a/PSMatrix.psd1 b/PSMatrix.psd1
index 68b668a..44be4a0 100644
--- a/PSMatrix.psd1
+++ b/PSMatrix.psd1
@@ -72,7 +72,8 @@ PowerShellVersion = '7.0'
 FunctionsToExport = @(
     'New-MatrixAccessToken',
     'Remove-MatrixAccessToken',
-    'Get-MatrixJoinedRooms'
+    'Get-MatrixJoinedRooms',
+    'Get-MatrixJoinedMembers'
 )
 
 # Cmdlets to export from this module, for best performance, do not use wildcards and do not delete the entry, use an empty array if there are no cmdlets to export.
diff --git a/public/Get-MatrixJoinedMembers.ps1 b/public/Get-MatrixJoinedMembers.ps1
new file mode 100644
index 0000000..8484bac
--- /dev/null
+++ b/public/Get-MatrixJoinedMembers.ps1
@@ -0,0 +1,55 @@
+<#
+    .Synopsis
+    Get all joined members for a given Room ID.
+
+    .Description
+    Get all joined members for a given Room ID from _matrix/client/v3/rooms/{roomId}/joined_members. See https://spec.matrix.org/v1.2/client-server-api/#get_matrixclientv3roomsroomidjoined_members.
+
+    .Parameter ServerUrl
+    URL for the Matrix server to log into, for example "https://matrix.example.com".
+
+    .Parameter AccessToken
+    A SecureString containing the Matrix access token.
+
+    .Parameter RoomId
+    The Matrix room ID to retrieve joined members for.
+
+    .Example
+    Get-MatrixJoinedMembers -ServerUrl $server -AccessToken $token -RoomId "!ehXvUhWNASUkSLvAGP:matrix.org"
+#>
+function Get-MatrixJoinedMembers {
+    param(
+        [Parameter(Mandatory)]
+        [string]$ServerUrl,
+
+        [Parameter(Mandatory)]
+        [SecureString]$AccessToken,
+
+        [Parameter(Mandatory)]
+        [string]$RoomId
+    )
+
+    $url = New-MatrixUrl -ServerUrl $ServerUrl -ApiPath "_matrix/client/v3/rooms/$RoomId/joined_members"
+    Write-Debug "URL: $url"
+    $headers = Get-MatrixAuthHeaders -AccessToken $AccessToken
+
+    try {
+        $res = Invoke-RestMethod -Uri $url -Headers $headers
+        $joinedObject = $res.joined
+        $members = @()
+
+        $joinedObject.PSObject.Properties | ForEach-Object {
+            $member = [PSCustomObject]@{
+                MatrixId = $_.Name
+                DisplayName = $_.Value.display_name
+                AvatarUrl = $_.Value.avatar_url
+            }
+
+            $members += $member
+        }
+
+        return $members
+    } catch {
+        Write-Error $_
+    }
+}
\ No newline at end of file