diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 416e7d21a..3ae8d19c6 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -86,6 +86,12 @@ else()
 generating aggregated SDFormat descriptions for sdformat.org, please install \
 ignition-tools.")
 endif()
+if (ignition-tools_FOUND)
+  set (HAVE_IGN_TOOLS TRUE)
+endif()
+# Note that CLI files are installed regardless of whether the dependency is
+# available during build time
+set (IGN_TOOLS_VER 1)
 
 ################################################
 # Find the Python interpreter for running the
@@ -128,7 +134,7 @@ endmacro()
 
 ########################################
 # Find ignition cmake2
-# Only for using the testing macros and creating the codecheck target, not 
+# Only for using the testing macros and creating the codecheck target, not
 # really being use to configure the whole project
 find_package(ignition-cmake2 REQUIRED)
 set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 89534f7aa..0cb4ae6ef 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -42,3 +42,16 @@ file(GENERATE
 
 # Install the ruby command line library in an unversioned location.
 install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)
+
+#===============================================================================
+# Bash completion
+
+# Tack version onto and install the bash completion script
+configure_file(
+  "sdf.bash_completion.sh"
+    "${CMAKE_CURRENT_BINARY_DIR}/sdf${PROJECT_VERSION_MAJOR}.bash_completion.sh" @ONLY)
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/sdf${PROJECT_VERSION_MAJOR}.bash_completion.sh
+  DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${IGN_TOOLS_VER}.completion.d)
diff --git a/src/cmd/sdf.bash_completion.sh b/src/cmd/sdf.bash_completion.sh
new file mode 100644
index 000000000..53f545be8
--- /dev/null
+++ b/src/cmd/sdf.bash_completion.sh
@@ -0,0 +1,54 @@
+#!/usr/bin/env bash
+#
+# Copyright (C) 2022 Open Source Robotics Foundation
+#
+# 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.
+#
+
+# bash tab-completion
+
+# This is a per-library function definition, used in conjunction with the
+# top-level entry point in ign-tools.
+
+GZ_SDF_COMPLETION_LIST="
+  -k --check
+  -d --describe
+  -p --print
+  --inertial-stats
+  -h --help
+  --force-version
+  --versions
+"
+
+function _gz_sdf
+{
+  if [[ ${COMP_WORDS[COMP_CWORD]} == -* ]]; then
+    # Specify options (-*) word list for this subcommand
+    COMPREPLY=($(compgen -W "$GZ_SDF_COMPLETION_LIST" \
+      -- "${COMP_WORDS[COMP_CWORD]}" ))
+    return
+  else
+    # Just use bash default auto-complete, because we never have two
+    # subcommands in the same line. If that is ever needed, change here to
+    # detect subsequent subcommands
+    COMPREPLY=($(compgen -o default -- "${COMP_WORDS[COMP_CWORD]}"))
+    return
+  fi
+}
+
+function _gz_sdf_flags
+{
+  for word in $GZ_SDF_COMPLETION_LIST; do
+    echo "$word"
+  done
+}
diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc
index 3d34dc367..6b5a452e4 100644
--- a/src/ign_TEST.cc
+++ b/src/ign_TEST.cc
@@ -16,10 +16,12 @@
 */
 
 #include <gtest/gtest.h>
+#include <iostream>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string>
 
+#include "sdf/Filesystem.hh"
 #include "sdf/parser.hh"
 #include "sdf/SDFImpl.hh"
 #include "sdf/sdf_config.h"
@@ -815,6 +817,38 @@ TEST(inertial_stats, SDF)
   }
 }
 
+//////////////////////////////////////////////////
+/// \brief Check help message and bash completion script for consistent flags
+TEST(HelpVsCompletionFlags, SDF)
+{
+  // Flags in help message
+  std::string helpOutput = custom_exec_str(IgnCommand() + " sdf --help");
+
+  // Call the output function in the bash completion script
+  std::string scriptPath = PROJECT_SOURCE_PATH;
+  scriptPath = sdf::filesystem::append(scriptPath, "src", "cmd",
+      "sdf.bash_completion.sh");
+
+  // Equivalent to:
+  // sh -c "bash -c \". /path/to/sdf.bash_completion.sh; _gz_sdf_flags\""
+  std::string cmd = "bash -c \". " + scriptPath +
+    "; _gz_sdf_flags\"";
+  std::string scriptOutput = custom_exec_str(cmd);
+
+  // Tokenize script output
+  std::istringstream iss(scriptOutput);
+  std::vector<std::string> flags((std::istream_iterator<std::string>(iss)),
+    std::istream_iterator<std::string>());
+
+  EXPECT_GT(flags.size(), 0u);
+
+  // Match each flag in script output with help message
+  for (const auto &flag : flags)
+  {
+    EXPECT_NE(std::string::npos, helpOutput.find(flag)) << helpOutput;
+  }
+}
+
 /////////////////////////////////////////////////
 /// Main
 int main(int argc, char **argv)