diff --git a/include/libcamera/internal/camera_sensor.h b/include/libcamera/internal/camera_sensor.h
index 0f65fca4..b9eba89f 100644
--- a/include/libcamera/internal/camera_sensor.h
+++ b/include/libcamera/internal/camera_sensor.h
@@ -47,6 +47,7 @@ public:
 	int init();
 
 	const std::string &model() const { return model_; }
+	const std::string &id() const { return id_; }
 	const MediaEntity *entity() const { return entity_; }
 	const std::vector<unsigned int> &mbusCodes() const { return mbusCodes_; }
 	const std::vector<Size> &sizes() const { return sizes_; }
diff --git a/src/libcamera/camera_sensor.cpp b/src/libcamera/camera_sensor.cpp
index 79b2bc40..d2679a4b 100644
--- a/src/libcamera/camera_sensor.cpp
+++ b/src/libcamera/camera_sensor.cpp
@@ -290,6 +290,16 @@ int CameraSensor::init()
  * \return The sensor model name
  */
 
+/**
+ * \fn CameraSensor::id()
+ * \brief Retrieve the sensor ID
+ *
+ * The sensor ID is a free-form string that uniquely identifies the sensor in
+ * the system. The ID satisfies the requirements to be used as a camera ID.
+ *
+ * \return The sensor ID
+ */
+
 /**
  * \fn CameraSensor::entity()
  * \brief Retrieve the sensor media entity