diff --git a/.github/BOTMETA.yml b/.github/BOTMETA.yml
index 77b250edbd..6847d690f8 100644
--- a/.github/BOTMETA.yml
+++ b/.github/BOTMETA.yml
@@ -163,6 +163,8 @@ files:
     keywords: opennebula dynamic inventory script
   $inventories/proxmox.py:
     maintainers: $team_virt ilijamt
+  $inventories/xen_orchestra.py:
+    maintainers: shinuza
   $inventories/icinga2.py:
     maintainers: bongoeadgc6
   $inventories/scaleway.py:
diff --git a/plugins/inventory/xen_orchestra.py b/plugins/inventory/xen_orchestra.py
new file mode 100644
index 0000000000..af4b327c53
--- /dev/null
+++ b/plugins/inventory/xen_orchestra.py
@@ -0,0 +1,315 @@
+# -*- coding: utf-8 -*-
+# Copyright (c) 2021 Ansible Project
+# GNU General Public License v3.0+ (see COPYING or https://www.gnu.org/licenses/gpl-3.0.txt)
+
+from __future__ import (absolute_import, division, print_function)
+__metaclass__ = type
+
+DOCUMENTATION = '''
+    name: xen_orchestra
+    short_description: Xen Orchestra inventory source
+    version_added: 4.1.0
+    author:
+        - Dom Del Nano (@ddelnano) <ddelnano@gmail.com>
+        - Samori Gorse (@shinuza) <samorigorse@gmail.com>
+    requirements:
+        - websocket-client >= 1.0.0
+    description:
+        - Get inventory hosts from a Xen Orchestra deployment.
+        - 'Uses a configuration file as an inventory source, it must end in C(.xen_orchestra.yml) or C(.xen_orchestra.yaml).'
+    extends_documentation_fragment:
+        - constructed
+        - inventory_cache
+    options:
+        plugin:
+            description: The name of this plugin, it should always be set to C(community.general.xen_orchestra) for this plugin to recognize it as its own.
+            required: yes
+            choices: ['community.general.xen_orchestra']
+            type: str
+        api_host:
+            description:
+                - API host to XOA API.
+                - If the value is not specified in the inventory configuration, the value of environment variable C(ANSIBLE_XO_HOST) will be used instead.
+            type: str
+            env:
+                - name: ANSIBLE_XO_HOST
+        user:
+            description:
+                - Xen Orchestra user.
+                - If the value is not specified in the inventory configuration, the value of environment variable C(ANSIBLE_XO_USER) will be used instead.
+            required: yes
+            type: str
+            env:
+                - name: ANSIBLE_XO_USER
+        password:
+            description:
+                - Xen Orchestra password.
+                - If the value is not specified in the inventory configuration, the value of environment variable C(ANSIBLE_XO_PASSWORD) will be used instead.
+            required: yes
+            type: str
+            env:
+                - name: ANSIBLE_XO_PASSWORD
+        validate_certs:
+            description: Verify TLS certificate if using HTTPS.
+            type: boolean
+            default: true
+        use_ssl:
+            description: Use wss when connecting to the Xen Orchestra API
+            type: boolean
+            default: true
+'''
+
+
+EXAMPLES = '''
+# file must be named xen_orchestra.yaml or xen_orchestra.yml
+simple_config_file:
+    plugin: community.general.xen_orchestra
+    api_host: 192.168.1.255
+    user: xo
+    password: xo_pwd
+    validate_certs: true
+    use_ssl: true
+'''
+
+import json
+import ssl
+
+from distutils.version import LooseVersion
+
+from ansible.errors import AnsibleError
+from ansible.plugins.inventory import BaseInventoryPlugin, Constructable, Cacheable
+
+# 3rd party imports
+try:
+    HAS_WEBSOCKET = True
+    import websocket
+    from websocket import create_connection
+
+    if LooseVersion(websocket.__version__) <= LooseVersion('1.0.0'):
+        raise ImportError
+except ImportError as e:
+    HAS_WEBSOCKET = False
+
+
+HALTED = 'Halted'
+PAUSED = 'Paused'
+RUNNING = 'Running'
+SUSPENDED = 'Suspended'
+POWER_STATES = [RUNNING, HALTED, SUSPENDED, PAUSED]
+HOST_GROUP = 'xo_hosts'
+POOL_GROUP = 'xo_pools'
+
+
+def clean_group_name(label):
+    return label.lower().replace(' ', '-').replace('-', '_')
+
+
+class InventoryModule(BaseInventoryPlugin, Constructable, Cacheable):
+    ''' Host inventory parser for ansible using XenOrchestra as source. '''
+
+    NAME = 'community.general.xen_orchestra'
+
+    def __init__(self):
+
+        super(InventoryModule, self).__init__()
+
+        # from config
+        self.counter = -1
+        self.session = None
+        self.cache_key = None
+        self.use_cache = None
+
+    @property
+    def pointer(self):
+        self.counter += 1
+        return self.counter
+
+    def create_connection(self, xoa_api_host):
+        validate_certs = self.get_option('validate_certs')
+        use_ssl = self.get_option('use_ssl')
+        proto = 'wss' if use_ssl else 'ws'
+
+        sslopt = None if validate_certs else {'cert_reqs': ssl.CERT_NONE}
+        self.conn = create_connection(
+            '{0}://{1}/api/'.format(proto, xoa_api_host), sslopt=sslopt)
+
+    def login(self, user, password):
+        payload = {'id': self.pointer, 'jsonrpc': '2.0', 'method': 'session.signIn', 'params': {
+            'username': user, 'password': password}}
+        self.conn.send(json.dumps(payload))
+        result = json.loads(self.conn.recv())
+
+        if 'error' in result:
+            raise AnsibleError(
+                'Could not connect: {0}'.format(result['error']))
+
+    def get_object(self, name):
+        payload = {'id': self.pointer, 'jsonrpc': '2.0',
+                   'method': 'xo.getAllObjects', 'params': {'filter': {'type': name}}}
+        self.conn.send(json.dumps(payload))
+        answer = json.loads(self.conn.recv())
+
+        if 'error' in answer:
+            raise AnsibleError(
+                'Could not request: {0}'.format(answer['error']))
+
+        return answer['result']
+
+    def _get_objects(self):
+        self.create_connection(self.xoa_api_host)
+        self.login(self.xoa_user, self.xoa_password)
+
+        return {
+            'vms': self.get_object('VM'),
+            'pools': self.get_object('pool'),
+            'hosts': self.get_object('host'),
+        }
+
+    def _add_vms(self, vms, hosts, pools):
+        for uuid, vm in vms.items():
+            group = 'with_ip'
+            ip = vm.get('mainIpAddress')
+            entry_name = uuid
+            power_state = vm['power_state'].lower()
+            pool_name = self._pool_group_name_for_uuid(pools, vm['$poolId'])
+            host_name = self._host_group_name_for_uuid(hosts, vm['$container'])
+
+            self.inventory.add_host(entry_name)
+
+            # Grouping by power state
+            self.inventory.add_child(power_state, entry_name)
+
+            # Grouping by host
+            if host_name:
+                self.inventory.add_child(host_name, entry_name)
+
+            # Grouping by pool
+            if pool_name:
+                self.inventory.add_child(pool_name, entry_name)
+
+            # Grouping VMs with an IP together
+            if ip is None:
+                group = 'without_ip'
+            self.inventory.add_group(group)
+            self.inventory.add_child(group, entry_name)
+
+            # Adding meta
+            self.inventory.set_variable(entry_name, 'uuid', uuid)
+            self.inventory.set_variable(entry_name, 'ip', ip)
+            self.inventory.set_variable(entry_name, 'ansible_host', ip)
+            self.inventory.set_variable(entry_name, 'power_state', power_state)
+            self.inventory.set_variable(
+                entry_name, 'name_label', vm['name_label'])
+            self.inventory.set_variable(entry_name, 'type', vm['type'])
+            self.inventory.set_variable(
+                entry_name, 'cpus', vm['CPUs']['number'])
+            self.inventory.set_variable(entry_name, 'tags', vm['tags'])
+            self.inventory.set_variable(
+                entry_name, 'memory', vm['memory']['size'])
+            self.inventory.set_variable(
+                entry_name, 'has_ip', group == 'with_ip')
+            self.inventory.set_variable(
+                entry_name, 'is_managed', vm.get('managementAgentDetected', False))
+            self.inventory.set_variable(
+                entry_name, 'os_version', vm['os_version'])
+
+    def _add_hosts(self, hosts, pools):
+        for host in hosts.values():
+            entry_name = host['uuid']
+            group_name = 'xo_host_{0}'.format(
+                clean_group_name(host['name_label']))
+            pool_name = self._pool_group_name_for_uuid(pools, host['$poolId'])
+
+            self.inventory.add_group(group_name)
+            self.inventory.add_host(entry_name)
+            self.inventory.add_child(HOST_GROUP, entry_name)
+            self.inventory.add_child(pool_name, entry_name)
+
+            self.inventory.set_variable(entry_name, 'enabled', host['enabled'])
+            self.inventory.set_variable(
+                entry_name, 'hostname', host['hostname'])
+            self.inventory.set_variable(entry_name, 'memory', host['memory'])
+            self.inventory.set_variable(entry_name, 'address', host['address'])
+            self.inventory.set_variable(entry_name, 'cpus', host['cpus'])
+            self.inventory.set_variable(entry_name, 'type', 'host')
+            self.inventory.set_variable(entry_name, 'tags', host['tags'])
+            self.inventory.set_variable(entry_name, 'version', host['version'])
+            self.inventory.set_variable(
+                entry_name, 'power_state', host['power_state'].lower())
+            self.inventory.set_variable(
+                entry_name, 'product_brand', host['productBrand'])
+
+        for pool in pools.values():
+            group_name = 'xo_pool_{0}'.format(
+                clean_group_name(pool['name_label']))
+
+            self.inventory.add_group(group_name)
+
+    def _add_pools(self, pools):
+        for pool in pools.values():
+            group_name = 'xo_pool_{0}'.format(
+                clean_group_name(pool['name_label']))
+
+            self.inventory.add_group(group_name)
+
+    # TODO: Refactor
+    def _pool_group_name_for_uuid(self, pools, pool_uuid):
+        for pool in pools:
+            if pool == pool_uuid:
+                return 'xo_pool_{0}'.format(
+                    clean_group_name(pools[pool_uuid]['name_label']))
+
+    # TODO: Refactor
+    def _host_group_name_for_uuid(self, hosts, host_uuid):
+        for host in hosts:
+            if host == host_uuid:
+                return 'xo_host_{0}'.format(
+                    clean_group_name(hosts[host_uuid]['name_label']
+                                     ))
+
+    def _populate(self, objects):
+        # Prepare general groups
+        self.inventory.add_group(HOST_GROUP)
+        self.inventory.add_group(POOL_GROUP)
+        for group in POWER_STATES:
+            self.inventory.add_group(group.lower())
+
+        self._add_pools(objects['pools'])
+        self._add_hosts(objects['hosts'], objects['pools'])
+        self._add_vms(objects['vms'], objects['hosts'], objects['pools'])
+
+    def verify_file(self, path):
+
+        valid = False
+        if super(InventoryModule, self).verify_file(path):
+            if path.endswith(('xen_orchestra.yaml', 'xen_orchestra.yml')):
+                valid = True
+            else:
+                self.display.vvv(
+                    'Skipping due to inventory source not ending in "xen_orchestra.yaml" nor "xen_orchestra.yml"')
+        return valid
+
+    def parse(self, inventory, loader, path, cache=True):
+        if not HAS_WEBSOCKET:
+            raise AnsibleError('This plugin requires websocket-client 1.0.0 or higher: '
+                               'https://github.com/websocket-client/websocket-client.')
+
+        super(InventoryModule, self).parse(inventory, loader, path)
+
+        # read config from file, this sets 'options'
+        self._read_config_data(path)
+        self.inventory = inventory
+
+        self.protocol = 'wss'
+        self.xoa_api_host = self.get_option('api_host')
+        self.xoa_user = self.get_option('user')
+        self.xoa_password = self.get_option('password')
+        self.cache_key = self.get_cache_key(path)
+        self.use_cache = cache and self.get_option('cache')
+
+        self.validate_certs = self.get_option('validate_certs')
+        if not self.get_option('use_ssl'):
+            self.protocol = 'ws'
+
+        objects = self._get_objects()
+        self._populate(objects)
diff --git a/tests/unit/plugins/inventory/test_xen_orchestra.py b/tests/unit/plugins/inventory/test_xen_orchestra.py
new file mode 100644
index 0000000000..39ff60a602
--- /dev/null
+++ b/tests/unit/plugins/inventory/test_xen_orchestra.py
@@ -0,0 +1,197 @@
+# -*- coding: utf-8 -*-
+# Copyright (c) 2020, Jeffrey van Pelt <jeff@vanpelt.one>
+# GNU General Public License v3.0+ (see COPYING or https://www.gnu.org/licenses/gpl-3.0.txt)
+#
+# The API responses used in these tests were recorded from PVE version 6.2.
+
+from __future__ import (absolute_import, division, print_function)
+__metaclass__ = type
+
+import pytest
+
+from ansible.errors import AnsibleError, AnsibleParserError
+from ansible.inventory.data import InventoryData
+from ansible_collections.community.general.plugins.inventory.xen_orchestra import InventoryModule
+
+objects = {
+    'vms': {
+        '0e64588-2bea-2d82-e922-881654b0a48f':
+            {
+                'type': 'VM',
+                'addresses': {},
+                'CPUs': {'max': 4, 'number': 4},
+                'memory': {'dynamic': [1073741824, 2147483648], 'static': [536870912, 4294967296], 'size': 2147483648},
+                'name_description': '',
+                'name_label': 'XCP-NG lab 2',
+                'os_version': {},
+                'parent': 'd3af89b2-d846-0874-6acb-031ccf11c560',
+                'power_state': 'Running',
+                'tags': [],
+                'id': '0e645898-2bea-2d82-e922-881654b0a48f',
+                'uuid': '0e645898-2bea-2d82-e922-881654b0a48f',
+                '$pool': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+                '$poolId': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+                '$container': '222d8594-9426-468a-ad69-7a6f02330fa3'
+            },
+        'b0d25e70-019d-6182-2f7c-b0f5d8ef9331':
+            {
+                'type': 'VM',
+                'addresses': {'0/ipv4/0': '192.168.1.55', '1/ipv4/0': '10.0.90.1'},
+                'CPUs': {'max': 4, 'number': 4},
+                'mainIpAddress': '192.168.1.55',
+                'memory': {'dynamic': [2147483648, 2147483648], 'static': [134217728, 2147483648], 'size': 2147483648},
+                'name_description': '',
+                'name_label': 'XCP-NG lab 3',
+                'os_version': {'name': 'FreeBSD 11.3-STABLE', 'uname': '11.3-STABLE', 'distro': 'FreeBSD'},
+                'power_state': 'Halted',
+                'tags': [],
+                'id': 'b0d25e70-019d-6182-2f7c-b0f5d8ef9331',
+                'uuid': 'b0d25e70-019d-6182-2f7c-b0f5d8ef9331',
+                '$pool': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+                '$poolId': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+                '$container': 'c96ec4dd-28ac-4df4-b73c-4371bd202728',
+            }
+    },
+    'pools': {
+        '3d315997-73bd-5a74-8ca7-289206cb03ab': {
+            'master': '222d8594-9426-468a-ad69-7a6f02330fa3',
+            'tags': [],
+            'name_description': '',
+            'name_label': 'Storage Lab',
+            'cpus': {'cores': 120, 'sockets': 6},
+            'id': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+            'type': 'pool',
+            'uuid': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+            '$pool': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+            '$poolId': '3d315997-73bd-5a74-8ca7-289206cb03ab'
+        }
+    },
+    'hosts': {
+        'c96ec4dd-28ac-4df4-b73c-4371bd202728': {
+            'type': 'host',
+            'uuid': 'c96ec4dd-28ac-4df4-b73c-4371bd202728',
+            'enabled': True,
+            'CPUs': {
+                'cpu_count': '40',
+                'socket_count': '2',
+                'vendor': 'GenuineIntel',
+                'speed': '1699.998',
+                'modelname': 'Intel(R) Xeon(R) CPU E5-2650L v2 @ 1.70GHz',
+                'family': '6',
+                'model': '62',
+                'stepping': '4'
+            },
+            'address': '172.16.210.14',
+            'build': 'release/stockholm/master/7',
+            'cpus': {'cores': 40, 'sockets': 2},
+            'hostname': 'r620-s1',
+            'name_description': 'Default install',
+            'name_label': 'R620-S1',
+            'memory': {'usage': 45283590144, 'size': 137391292416},
+            'power_state': 'Running',
+            'tags': [],
+            'version': '8.2.0',
+            'productBrand': 'XCP-ng',
+            'id': 'c96ec4dd-28ac-4df4-b73c-4371bd202728',
+            '$pool': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+            '$poolId': '3d315997-73bd-5a74-8ca7-289206cb03ab'
+        },
+        '222d8594-9426-468a-ad69-7a6f02330fa3': {
+            'type': 'host',
+            'uuid': '222d8594-9426-468a-ad69-7a6f02330fa3',
+            'enabled': True,
+            'CPUs': {
+                'cpu_count': '40',
+                'socket_count': '2',
+                'vendor': 'GenuineIntel',
+                'speed': '1700.007',
+                'modelname': 'Intel(R) Xeon(R) CPU E5-2650L v2 @ 1.70GHz',
+                'family': '6',
+                'model': '62',
+                'stepping': '4'
+            },
+            'address': '172.16.210.16',
+            'build': 'release/stockholm/master/7',
+            'cpus': {'cores': 40, 'sockets': 2},
+            'hostname': 'r620-s2',
+            'name_description': 'Default install',
+            'name_label': 'R620-S2',
+            'memory': {'usage': 10636521472, 'size': 137391292416},
+            'power_state': 'Running',
+            'tags': ['foo', 'bar', 'baz'],
+            'version': '8.2.0',
+            'productBrand': 'XCP-ng',
+            'id': '222d8594-9426-468a-ad69-7a6f02330fa3',
+            '$pool': '3d315997-73bd-5a74-8ca7-289206cb03ab',
+            '$poolId': '3d315997-73bd-5a74-8ca7-289206cb03ab'
+        }
+    }
+}
+
+
+def serialize_groups(groups):
+    return list(map(str, groups))
+
+
+@ pytest.fixture(scope="module")
+def inventory():
+    r = InventoryModule()
+    r.inventory = InventoryData()
+    return r
+
+
+def test_verify_file_bad_config(inventory):
+    assert inventory.verify_file('foobar.xen_orchestra.yml') is False
+
+
+def test_populate(inventory):
+    inventory._populate(objects)
+    actual = sorted(inventory.inventory.hosts.keys())
+    expected = sorted(['c96ec4dd-28ac-4df4-b73c-4371bd202728', '222d8594-9426-468a-ad69-7a6f02330fa3',
+                       '0e64588-2bea-2d82-e922-881654b0a48f', 'b0d25e70-019d-6182-2f7c-b0f5d8ef9331'])
+
+    assert actual == expected
+
+    # Host with ip assertions
+    host_with_ip = inventory.inventory.get_host(
+        'b0d25e70-019d-6182-2f7c-b0f5d8ef9331')
+    host_with_ip_vars = host_with_ip.vars
+
+    assert host_with_ip_vars['ansible_host'] == '192.168.1.55'
+    assert host_with_ip_vars['power_state'] == 'halted'
+    assert host_with_ip_vars['type'] == 'VM'
+
+    assert host_with_ip in inventory.inventory.groups['with_ip'].hosts
+
+    # Host without ip
+    host_without_ip = inventory.inventory.get_host(
+        '0e64588-2bea-2d82-e922-881654b0a48f')
+    host_without_ip_vars = host_without_ip.vars
+
+    assert host_without_ip_vars['ansible_host'] is None
+    assert host_without_ip_vars['power_state'] == 'running'
+
+    assert host_without_ip in inventory.inventory.groups['without_ip'].hosts
+
+    assert host_with_ip in inventory.inventory.groups['xo_host_r620_s1'].hosts
+    assert host_without_ip in inventory.inventory.groups['xo_host_r620_s2'].hosts
+
+    r620_s1 = inventory.inventory.get_host(
+        'c96ec4dd-28ac-4df4-b73c-4371bd202728')
+    r620_s2 = inventory.inventory.get_host(
+        '222d8594-9426-468a-ad69-7a6f02330fa3')
+
+    assert r620_s1.vars['address'] == '172.16.210.14'
+    assert r620_s1.vars['tags'] == []
+    assert r620_s2.vars['address'] == '172.16.210.16'
+    assert r620_s2.vars['tags'] == ['foo', 'bar', 'baz']
+
+    storage_lab = inventory.inventory.groups['xo_pool_storage_lab']
+
+    # Check that hosts are in their corresponding pool
+    assert r620_s1 in storage_lab.hosts
+    assert r620_s2 in storage_lab.hosts
+
+    # Check that hosts are in their corresponding pool
+    assert host_without_ip in storage_lab.hosts
+    assert host_with_ip in storage_lab.hosts