diff --git a/src/core/application.ts b/src/core/application.ts
index b8b92715..d707ff43 100644
--- a/src/core/application.ts
+++ b/src/core/application.ts
@@ -7,6 +7,8 @@ import { Router } from "./router"
 import { Schema, defaultSchema } from "./schema"
 import { ActionDescriptorFilter, ActionDescriptorFilters, defaultActionDescriptorFilters } from "./action_descriptor"
 
+export type AsyncConstructor = () => Promise<ControllerConstructor>
+
 export class Application implements ErrorHandler {
   readonly element: Element
   readonly schema: Schema
@@ -49,6 +51,10 @@ export class Application implements ErrorHandler {
     this.load({ identifier, controllerConstructor })
   }
 
+  registerLazy(identifier: string, controllerConstructor: AsyncConstructor) {
+    this.router.registerLazyModule(identifier, controllerConstructor)
+  }
+
   registerActionOption(name: string, filter: ActionDescriptorFilter) {
     this.actionDescriptorFilters[name] = filter
   }
diff --git a/src/core/router.ts b/src/core/router.ts
index d0d40a84..5f3099bf 100644
--- a/src/core/router.ts
+++ b/src/core/router.ts
@@ -1,4 +1,4 @@
-import { Application } from "./application"
+import { Application, AsyncConstructor } from "./application"
 import { Context } from "./context"
 import { Definition } from "./definition"
 import { Module } from "./module"
@@ -11,11 +11,13 @@ export class Router implements ScopeObserverDelegate {
   private scopeObserver: ScopeObserver
   private scopesByIdentifier: Multimap<string, Scope>
   private modulesByIdentifier: Map<string, Module>
+  private lazyModulesByIdentifier: Map<string, AsyncConstructor>
 
   constructor(application: Application) {
     this.application = application
     this.scopeObserver = new ScopeObserver(this.element, this.schema, this)
     this.scopesByIdentifier = new Multimap()
+    this.lazyModulesByIdentifier = new Map()
     this.modulesByIdentifier = new Map()
   }
 
@@ -98,10 +100,13 @@ export class Router implements ScopeObserverDelegate {
   }
 
   scopeConnected(scope: Scope) {
-    this.scopesByIdentifier.add(scope.identifier, scope)
+    const { identifier } = scope
+    this.scopesByIdentifier.add(identifier, scope)
     const module = this.modulesByIdentifier.get(scope.identifier)
     if (module) {
       module.connectContextForScope(scope)
+    } else if (this.lazyModulesByIdentifier.has(identifier)) {
+      this.loadLazyModule(identifier)
     }
   }
 
@@ -115,6 +120,14 @@ export class Router implements ScopeObserverDelegate {
 
   // Modules
 
+  registerLazyModule(identifier: string, controllerConstructor: AsyncConstructor) {
+    if (!this.modulesByIdentifier.has(identifier) && !this.lazyModulesByIdentifier.has(identifier)) {
+      this.lazyModulesByIdentifier.set(identifier, controllerConstructor)
+    } else {
+      this.application.logger.warn(`Stimulus has already a controller with "${identifier}" registered.`)
+    }
+  }
+
   private connectModule(module: Module) {
     this.modulesByIdentifier.set(module.identifier, module)
     const scopes = this.scopesByIdentifier.getValuesForKey(module.identifier)
@@ -126,4 +139,22 @@ export class Router implements ScopeObserverDelegate {
     const scopes = this.scopesByIdentifier.getValuesForKey(module.identifier)
     scopes.forEach((scope) => module.disconnectContextForScope(scope))
   }
+
+  private loadLazyModule(identifier: string) {
+    const callback = this.lazyModulesByIdentifier.get(identifier)
+    if (callback && typeof callback === "function") {
+      callback().then((controllerConstructor) => {
+        if (!this.modulesByIdentifier.has(identifier)) {
+          this.loadDefinition({ identifier, controllerConstructor })
+          this.lazyModulesByIdentifier.delete(identifier)
+        }
+      })
+    } else {
+      this.application.logger.warn(
+        `Stimulus expected the callback registered for "${identifier}" to resolve to a controllerConstructor but didn't`,
+        `Failed to lazy load ${identifier}`,
+        { identifier }
+      )
+    }
+  }
 }
diff --git a/src/tests/modules/core/error_handler_tests.ts b/src/tests/modules/core/error_handler_tests.ts
index d94482ea..00a956c1 100644
--- a/src/tests/modules/core/error_handler_tests.ts
+++ b/src/tests/modules/core/error_handler_tests.ts
@@ -2,7 +2,7 @@ import { Controller } from "../../../core/controller"
 import { Application } from "../../../core/application"
 import { ControllerTestCase } from "../../cases/controller_test_case"
 
-class MockLogger {
+export class MockLogger {
   errors: any[] = []
   logs: any[] = []
   warns: any[] = []
diff --git a/src/tests/modules/core/lazy_loading_tests.ts b/src/tests/modules/core/lazy_loading_tests.ts
new file mode 100644
index 00000000..b82548bc
--- /dev/null
+++ b/src/tests/modules/core/lazy_loading_tests.ts
@@ -0,0 +1,28 @@
+import { ApplicationTestCase } from "../../cases"
+import { Controller } from "../../../core"
+import { MockLogger } from "./error_handler_tests"
+
+class LazyController extends Controller {
+  connect() {
+    this.application.logger.log("Hello from lazy controller")
+  }
+}
+
+export default class LazyLoadingTests extends ApplicationTestCase {
+  async setupApplication() {
+    this.application.logger = new MockLogger()
+
+    this.application.registerLazy("lazy", () => new Promise((resolve, _reject) => resolve(LazyController)))
+  }
+
+  get mockLogger(): MockLogger {
+    return this.application.logger as any
+  }
+
+  async "test lazy loading of controllers"() {
+    await this.renderFixture(`<div data-controller="lazy"></div><div data-controller="lazy"></div>`)
+
+    this.assert.equal(this.mockLogger.logs.length, 2)
+    this.mockLogger.logs.forEach((entry) => this.assert.equal(entry, "Hello from lazy controller"))
+  }
+}