diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 467b2ef..a055e74 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -12,6 +12,13 @@ Breaking Changes
 * Dropped support for Python 2 and Sphinx 1.x/2.x.
   Python 2 source code can still be parsed.
 
+Features
+^^^^^^^^
+
+* Added support for using type hints as parameter types and return types
+  via the ``sphinx.ext.autodoc.typehints`` extension.
+
+
 V1.5.1 (2020-10-01)
 -------------------
 
diff --git a/autoapi/mappers/python/astroid_utils.py b/autoapi/mappers/python/astroid_utils.py
index bdc953e..e4bd94d 100644
--- a/autoapi/mappers/python/astroid_utils.py
+++ b/autoapi/mappers/python/astroid_utils.py
@@ -1,4 +1,5 @@
 import builtins
+import collections
 import itertools
 import re
 import sys
@@ -402,41 +403,33 @@ def merge_annotations(annotations, comment_annotations):
             yield None
 
 
-def _format_args(args, defaults=None, annotations=None):
-    values = []
+def _format_annotation(annotation):
+    if annotation:
+        if isinstance(annotation, astroid.Const):
+            annotation = annotation.value
+        else:
+            annotation = annotation.as_string()
 
-    if args is None:
-        return ""
+    return annotation
 
-    if annotations is None:
-        annotations = []
-
-    if defaults is not None:
-        default_offset = len(args) - len(defaults)
 
+def _iter_args(args, annotations, defaults):
+    default_offset = len(args) - len(defaults)
     packed = itertools.zip_longest(args, annotations)
     for i, (arg, annotation) in enumerate(packed):
+        default = None
+        if defaults is not None and i >= default_offset:
+            if defaults[i - default_offset] is not None:
+                default = defaults[i - default_offset].as_string()
+
+        name = arg.name
         if isinstance(arg, astroid.Tuple):
-            values.append("({})".format(_format_args(arg.elts)))
-        else:
-            argname = arg.name
-            default_sep = "="
-            if annotation is not None:
-                ann_str = annotation.as_string()
-                if isinstance(annotation, astroid.Const):
-                    ann_str = annotation.value
-                argname = "{}: {}".format(argname, ann_str)
-                default_sep = " = "
-            values.append(argname)
+            name = "({})".format(", ".join(x.name for x in arg.elts))
 
-            if defaults is not None and i >= default_offset:
-                if defaults[i - default_offset] is not None:
-                    values[-1] += default_sep + defaults[i - default_offset].as_string()
-
-    return ", ".join(values)
+        yield (name, _format_annotation(annotation), default)
 
 
-def format_args(args_node):  # pylint: disable=too-many-branches,too-many-statements
+def _get_args_info(args_node):  # pylint: disable=too-many-branches,too-many-statements
     result = []
     positional_only_defaults = []
     positional_or_keyword_defaults = args_node.defaults
@@ -449,8 +442,8 @@ def format_args(args_node):  # pylint: disable=too-many-branches,too-many-statem
 
     plain_annotations = args_node.annotations or ()
     func_comment_annotations = args_node.parent.type_comment_args or ()
-    comment_annotations = args_node.type_comment_args or []
-    comment_annotations = args_node.type_comment_posonlyargs + comment_annotations
+    comment_annotations = args_node.type_comment_posonlyargs
+    comment_annotations += args_node.type_comment_args or []
     comment_annotations += args_node.type_comment_kwonlyargs
     annotations = list(
         merge_annotations(
@@ -468,43 +461,39 @@ def format_args(args_node):  # pylint: disable=too-many-branches,too-many-statem
                 annotation_offset : annotation_offset + num_args
             ]
 
-        result.append(
-            _format_args(
-                args_node.posonlyargs, positional_only_defaults, posonlyargs_annotations
-            )
-        )
-        result.append("/")
+        for arg, annotation, default in _iter_args(
+            args_node.posonlyargs, posonlyargs_annotations, positional_only_defaults
+        ):
+            result.append((None, arg, annotation, default))
+
+        result.append(("/", None, None, None))
 
         if not any(args_node.posonlyargs_annotations):
             annotation_offset += num_args
 
     if args_node.args:
         num_args = len(args_node.args)
-        result.append(
-            _format_args(
-                args_node.args,
-                positional_or_keyword_defaults,
-                annotations[annotation_offset : annotation_offset + num_args],
-            )
-        )
+        for arg, annotation, default in _iter_args(
+            args_node.args,
+            annotations[annotation_offset : annotation_offset + num_args],
+            positional_or_keyword_defaults,
+        ):
+            result.append((None, arg, annotation, default))
+
         annotation_offset += num_args
 
     if args_node.vararg:
-        vararg_result = "*{}".format(args_node.vararg)
+        annotation = None
         if args_node.varargannotation:
-            vararg_result = "{}: {}".format(
-                vararg_result, args_node.varargannotation.as_string()
-            )
+            annotation = _format_annotation(args_node.varargannotation)
         elif len(annotations) > annotation_offset and annotations[annotation_offset]:
-            vararg_result = "{}: {}".format(
-                vararg_result, annotations[annotation_offset].as_string()
-            )
+            annotation = _format_annotation(annotations[annotation_offset])
             annotation_offset += 1
-        result.append(vararg_result)
+        result.append(("*", args_node.vararg, annotation, None))
 
     if args_node.kwonlyargs:
         if not args_node.vararg:
-            result.append("*")
+            result.append(("*", None, None, None))
 
         kwonlyargs_annotations = args_node.kwonlyargs_annotations
         if not any(args_node.kwonlyargs_annotations):
@@ -513,33 +502,55 @@ def format_args(args_node):  # pylint: disable=too-many-branches,too-many-statem
                 annotation_offset : annotation_offset + num_args
             ]
 
-        result.append(
-            _format_args(
-                args_node.kwonlyargs,
-                args_node.kw_defaults,
-                kwonlyargs_annotations,
-            )
-        )
+        for arg, annotation, default in _iter_args(
+            args_node.kwonlyargs,
+            kwonlyargs_annotations,
+            args_node.kw_defaults,
+        ):
+            result.append((None, arg, annotation, default))
 
         if not any(args_node.kwonlyargs_annotations):
             annotation_offset += num_args
 
     if args_node.kwarg:
-        kwarg_result = "**{}".format(args_node.kwarg)
+        annotation = None
         if args_node.kwargannotation:
-            kwarg_result = "{}: {}".format(
-                kwarg_result, args_node.kwargannotation.as_string()
-            )
+            annotation = _format_annotation(args_node.kwargannotation)
         elif len(annotations) > annotation_offset and annotations[annotation_offset]:
-            kwarg_result = "{}: {}".format(
-                kwarg_result, annotations[annotation_offset].as_string()
-            )
+            annotation = _format_annotation(annotations[annotation_offset])
             annotation_offset += 1
-        result.append(kwarg_result)
+        result.append(("**", args_node.kwarg, annotation, None))
+
+    return result
+
+
+def format_args(args_node):
+    result = []
+
+    args_info = _get_args_info(args_node)
+    for prefix, name, annotation, default in args_info:
+        formatted = "{}{}{}{}".format(
+            prefix or "",
+            name or "",
+            ": {}".format(annotation) if annotation else "",
+            (" = {}" if annotation else "={}").format(default) if default else "",
+        )
+        result.append(formatted)
 
     return ", ".join(result)
 
 
+def get_annotations_dict(args_node):
+    result = collections.OrderedDict()
+
+    args_info = _get_args_info(args_node)
+    for _, name, annotation, __ in args_info:
+        if name and annotation:
+            result[name] = annotation
+
+    return result
+
+
 def get_func_docstring(node):
     """Get the docstring of a node, using a parent docstring if needed.
 
diff --git a/autoapi/mappers/python/mapper.py b/autoapi/mappers/python/mapper.py
index 9a56561..21b685a 100644
--- a/autoapi/mappers/python/mapper.py
+++ b/autoapi/mappers/python/mapper.py
@@ -269,7 +269,8 @@ class PythonSphinxMapper(SphinxMapperBase):
                 parsed_data = Parser().parse_file(path)
             return parsed_data
         except (IOError, TypeError, ImportError):
-            LOGGER.warning("Error reading file: {0}".format(path))
+            LOGGER.warning("Unable to read file: {0}".format(path))
+            LOGGER.debug("Reason:", exc_info=True)
         return None
 
     def _resolve_placeholders(self):
@@ -325,8 +326,9 @@ class PythonSphinxMapper(SphinxMapperBase):
             if lines and "autodoc-process-docstring" in self.app.events.events:
                 self.app.emit(
                     "autodoc-process-docstring", cls.type, obj.name, None, None, lines
-                )  # object  # options
+                )
             obj.docstring = "\n".join(lines)
+            self._record_typehints(obj)
 
             for child_data in data.get("children", []):
                 for child_obj in self.create_class(
@@ -341,3 +343,8 @@ class PythonSphinxMapper(SphinxMapperBase):
                 obj.children.sort(key=lambda x: (x.member_order, x.name))
 
             yield obj
+
+    def _record_typehints(self, obj):
+        if isinstance(obj, (PythonClass, PythonFunction, PythonMethod)):
+            annotations = self.app.env.temp_data.setdefault("annotations", {})
+            annotations[obj.id] = obj.obj["annotations"]
diff --git a/autoapi/mappers/python/parser.py b/autoapi/mappers/python/parser.py
index e0cdc8c..5b28a12 100644
--- a/autoapi/mappers/python/parser.py
+++ b/autoapi/mappers/python/parser.py
@@ -87,13 +87,15 @@ class Parser(object):
             type_ = "exception"
 
         args = ""
+        annotations = {}
         try:
             constructor = node.lookup("__init__")[1]
         except IndexError:
             pass
         else:
             if isinstance(constructor, astroid.nodes.FunctionDef):
-                args = constructor.args.as_string()
+                args = astroid_utils.format_args(constructor.args)
+                annotations = astroid_utils.get_annotations_dict(constructor.args)
 
         basenames = list(astroid_utils.get_full_basenames(node.bases, node.basenames))
 
@@ -102,6 +104,7 @@ class Parser(object):
             "name": node.name,
             "full_name": self._get_full_name(node.name),
             "args": args,
+            "annotations": annotations,
             "bases": basenames,
             "doc": astroid_utils.get_class_docstring(node),
             "from_line_no": node.fromlineno,
@@ -163,11 +166,14 @@ class Parser(object):
         if isinstance(node, astroid.AsyncFunctionDef):
             properties.append("async")
 
+        annotations = astroid_utils.get_annotations_dict(node.args)
         return_annotation = None
         if node.returns:
             return_annotation = node.returns.as_string()
+            annotations["return"] = return_annotation
         elif node.type_comment_returns:
             return_annotation = node.type_comment_returns.as_string()
+            annotations["return"] = return_annotation
 
         arg_string = astroid_utils.format_args(node.args)
 
@@ -176,6 +182,7 @@ class Parser(object):
             "name": node.name,
             "full_name": self._get_full_name(node.name),
             "args": arg_string,
+            "annotations": annotations,
             "doc": astroid_utils.get_func_docstring(node),
             "from_line_no": node.fromlineno,
             "to_line_no": node.tolineno,
diff --git a/docs/how_to.rst b/docs/how_to.rst
index 8683e29..196deaa 100644
--- a/docs/how_to.rst
+++ b/docs/how_to.rst
@@ -95,3 +95,42 @@ using the :confval:`autoapi_keep_files` option::
 
 Once you have built your documentation with this option turned on,
 you can disable AutoAPI altogether from your project.
+
+
+How to Include Type Annotations as Types in Rendered Docstrings
+---------------------------------------------------------------
+
+Since v3.0, :mod:`sphinx` has included an :mod:`sphinx.ext.autodoc.typehints`
+extension that is capable of rendering type annotations as
+parameter types and return types.
+
+For example the following ReST:
+
+.. code-block::
+
+    .. py:function:: _func(a: int, b: Optional[str]) -> bool
+
+        :param a: The first arg.
+        :param b: The second arg.
+
+        :returns: Something.
+
+would be rendered as:
+
+.. py:function:: _func(a: int, b: Optional[str]) -> bool
+    :noindex:
+
+    :param int a: The first arg.
+    :param b: The second arg.
+    :type b: Optional[str]
+
+    :returns: Something.
+    :rtype: bool
+
+AutoAPI is capable of the same thing.
+To enable this behaviour, load the :mod:`sphinx.ext.autodoc.typehints`
+(or :mod:`sphinx.ext.autodoc`) extension in Sphinx's ``conf.py`` file
+and set :confval:`autodoc_typehints` to ``description`` as normal::
+
+    extensions = ['sphinx.ext.autodoc', 'autoapi.extension']
+    autodoc_typehints = 'description'
diff --git a/tests/python/py3example/example/example.py b/tests/python/py3example/example/example.py
index 83816e1..dd2d821 100644
--- a/tests/python/py3example/example/example.py
+++ b/tests/python/py3example/example/example.py
@@ -119,7 +119,12 @@ class A:
         return a * 2
 
 
-async def async_function(self, wait: bool) -> int:
+async def async_function(wait: bool) -> int:
+    """Blah.
+
+    Args:
+        wait: Blah
+    """
     if wait:
         await asyncio.sleep(1)
 
diff --git a/tests/python/test_astroid_utils.py b/tests/python/test_astroid_utils.py
new file mode 100644
index 0000000..988049f
--- /dev/null
+++ b/tests/python/test_astroid_utils.py
@@ -0,0 +1,56 @@
+import astroid
+from autoapi.mappers.python import astroid_utils
+import pytest
+
+
+@pytest.mark.parametrize(
+    "signature,expected",
+    [
+        ("a: bool, b: int = 5", {"a": "bool", "b": "int"}),
+        ("a: bool, /, b: int, *, c: str", {"a": "bool", "b": "int", "c": "str"}),
+        (
+            "a: bool, /, b: int, *args, c: str, **kwargs",
+            {"a": "bool", "b": "int", "c": "str"},
+        ),
+        ("a: int, *args, b: str, **kwargs", {"a": "int", "b": "str"}),
+    ],
+)
+def test_parse_annotations(signature, expected):
+    node = astroid.extract_node(
+        """
+        def func({}) -> str: #@
+            pass
+    """.format(
+            signature
+        )
+    )
+
+    annotations = astroid_utils.get_annotations_dict(node.args)
+    assert annotations == expected
+
+
+@pytest.mark.parametrize(
+    "signature,expected",
+    [
+        ("a: bool, b: int = 5, c='hi'", "a: bool, b: int = 5, c='hi'"),
+        ("a: bool, /, b: int, *, c: str", "a: bool, /, b: int, *, c: str"),
+        (
+            "a: bool, /, b: int, *args, c: str, **kwargs",
+            "a: bool, /, b: int, *args, c: str, **kwargs",
+        ),
+        ("a: int, *args, b: str, **kwargs", "a: int, *args, b: str, **kwargs"),
+        ("a: 'A'", "a: A"),
+    ],
+)
+def test_format_args(signature, expected):
+    node = astroid.extract_node(
+        """
+        def func({}) -> str: #@
+            pass
+    """.format(
+            signature
+        )
+    )
+
+    formatted = astroid_utils.format_args(node.args)
+    assert formatted == expected