diff --git a/common/params.cc b/common/params.cc
index 8ff5fc539d..7b2d4490ea 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -3,6 +3,7 @@
 #include <dirent.h>
 #include <sys/file.h>
 
+#include <algorithm>
 #include <csignal>
 #include <unordered_map>
 
@@ -203,6 +204,14 @@ Params::Params(const std::string &path) {
   params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path);
 }
 
+std::vector<std::string> Params::allKeys() const {
+  std::vector<std::string> ret;
+  for (auto &p : keys) {
+    ret.push_back(p.first);
+  }
+  return ret;
+}
+
 bool Params::checkKey(const std::string &key) {
   return keys.find(key) != keys.end();
 }
diff --git a/common/params.h b/common/params.h
index aa4b1d7af3..7758a015f6 100644
--- a/common/params.h
+++ b/common/params.h
@@ -2,6 +2,7 @@
 
 #include <map>
 #include <string>
+#include <vector>
 
 enum ParamKeyType {
   PERSISTENT = 0x02,
@@ -15,6 +16,7 @@ enum ParamKeyType {
 class Params {
 public:
   Params(const std::string &path = {});
+  std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 8d52b8d3f6..bbddda46ea 100755
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -2,6 +2,7 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
+from libcpp.vector cimport vector
 import threading
 
 cdef extern from "common/params.h":
@@ -22,6 +23,7 @@ cdef extern from "common/params.h":
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
+    vector[string] allKeys()
 
 
 def ensure_bytes(v):
@@ -99,6 +101,9 @@ cdef class Params:
     cdef string key_bytes = ensure_bytes(key)
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
+  def all_keys(self):
+    return self.p.allKeys()
+
 def put_nonblocking(key, val, d=""):
   threading.Thread(target=lambda: Params(d).put(key, val)).start()
 
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 899a47fe34..ec13e82217 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -98,6 +98,14 @@ class TestParams(unittest.TestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
 
+  def test_params_all_keys(self):
+    keys = Params().all_keys()
+
+    # sanity checks
+    assert len(keys) > 20
+    assert len(keys) == len(set(keys))
+    assert b"CarParams" in keys
+
 
 if __name__ == "__main__":
   unittest.main()