diff --git a/docs/design/autoware-interfaces/components/.pages b/docs/design/autoware-interfaces/components/.pages
index e06a4052a0e..751990941c6 100644
--- a/docs/design/autoware-interfaces/components/.pages
+++ b/docs/design/autoware-interfaces/components/.pages
@@ -1,5 +1,6 @@
 nav:
   - index.md
+  - interfaces.md
   - planning.md
   - control.md
   - localization.md
diff --git a/docs/design/autoware-interfaces/components/interfaces.md b/docs/design/autoware-interfaces/components/interfaces.md
new file mode 100644
index 00000000000..dcdb1adbfd5
--- /dev/null
+++ b/docs/design/autoware-interfaces/components/interfaces.md
@@ -0,0 +1,118 @@
+---
+interfaces:
+  - name: /control/command/control_cmd
+    type: autoware_auto_control_msgs/msg/AckermannControlCommand
+  - name: /control/command/gear_cmd
+    type: autoware_auto_vehicle_msgs/msg/GearCommand
+  - name: /control/command/hazard_lights_cmd
+    type: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
+  - name: /control/command/turn_indicators_cmd
+    type: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand
+  - name: /control/control_mode_request
+    type: autoware_auto_vehicle_msgs/srv/ControlModeCommand
+  - name: /control/current_gate_mode
+    type: tier4_control_msgs/msg/GateMode
+  - name: /control/vehicle_cmd_gate/is_paused
+    type: tier4_control_msgs/msg/IsPaused
+  - name: /control/vehicle_cmd_gate/is_start_requested
+    type: tier4_control_msgs/msg/IsStartRequested
+  - name: /control/vehicle_cmd_gate/set_pause
+    type: tier4_control_msgs/srv/SetPause
+  - name: /localization/acceleration
+    type: geometry_msgs/msg/AccelWithCovarianceStamped
+  - name: /localization/initialization_state
+    type: autoware_adapi_v1_msgs/msg/LocalizationInitializationState
+  - name: /localization/initialize
+    type: tier4_localization_msgs/srv/PoseWithCovarianceStamped
+  - name: /localization/kinematic_state
+    type: nav_msgs/msg/Odometry
+  - name: /localization/pose_estimator/pose_with_covariance
+    type: geometry_msgs/msg/PoseWithCovarianceStamped
+  - name: /map/get_differential_pointcloud_map
+    type: autoware_map_msgs/srv/GetDifferentialPointCloudMap
+  - name: /map/get_partial_pointcloud_map
+    type: autoware_map_msgs/srv/GetPartialPointCloudMap
+  - name: /map/map_projector_type
+    type: tier4_map_msgs/msg/MapProjectorInfo
+  - name: /map/vector_map
+    type: autoware_auto_mapping_msgs/msg/HADMapBin
+  - name: /perception/object_recognition/detection/objects
+    type: autoware_auto_perception_msgs/msg/DetectedObjects
+  - name: /perception/object_recognition/objects
+    type: autoware_auto_perception_msgs/msg/PredictedObjects
+  - name: /perception/obstacle_segmentation/pointcloud
+    type: sensor_msgs/msg/PointCloud2
+  - name: /perception/occupancy_grid_map/map
+    type: nav_msgs/msg/OccupancyGrid
+  - name: /perception/traffic_light_recognition/traffic_signals
+    type: autoware_perception_msgs/msg/TrafficSignalArray
+  - name: /planning/hazard_lights_cmd
+    type: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
+  - name: /planning/mission_planning/change_route
+    type: autoware_adapi_v1_msgs/srv/SetRoute
+  - name: /planning/mission_planning/change_route_points
+    type: autoware_adapi_v1_msgs/srv/SetRoutePoints
+  - name: /planning/mission_planning/clear_route
+    type: autoware_adapi_v1_msgs/srv/ClearRoute
+  - name: /planning/mission_planning/route
+    type: autoware_planning_msgs/msg/LaneletRoute
+  - name: /planning/mission_planning/route_state
+    type: autoware_adapi_v1_msgs/msg/RouteState
+  - name: /planning/mission_planning/set_route
+    type: autoware_adapi_v1_msgs/srv/SetRoute
+  - name: /planning/mission_planning/set_route_points
+    type: autoware_adapi_v1_msgs/srv/SetRoutePoints
+  - name: /planning/scenario_planning/clear_velocity_limit
+    type: tier4_planning_msgs/msg/VelocityLimitClearCommand
+  - name: /planning/scenario_planning/max_velocity_candidates
+    type: tier4_planning_msgs/msg/VelocityLimit
+  - name: /planning/scenario_planning/trajectory
+    type: autoware_auto_planning_msgs/msg/Trajectory
+  - name: /planning/turn_indicators_cmd
+    type: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand
+  - name: /sensing/gnss/pose_with_covariance
+    type: geometry_msgs/msg/PoseWithCovarianceStamped
+  - name: /sensing/imu/imu_data
+    type: sensor_msgs/msg/Imu
+  - name: /sensing/lidar/concatenated/pointcloud
+    type: sensor_msgs/msg/PointCloud2
+  - name: /sensing/lidar/top/outlier_filtered/pointcloud
+    type: sensor_msgs/msg/PointCloud2
+  - name: /sensing/vehicle_velocity_converter/twist_with_covariance
+    type: geometry_msgs/msg/TwistWithCovarianceStamped
+  - name: /system/emergency/control_cmd
+    type: autoware_auto_control_msgs/msg/AckermannControlCommand
+  - name: /system/emergency/gear_cmd
+    type: autoware_auto_vehicle_msgs/msg/GearCommand
+  - name: /system/emergency/hazard_lights_cmd
+    type: autoware_auto_vehicle_msgs/msg/HazardLightsCommand
+  - name: /system/fail_safe/mrm_state
+    type: autoware_adapi_v1_msgs/msg/MrmState
+  - name: /system/operation_mode/change_autoware_control
+    type: tier4_system_msgs/srv/ChangeAutowareControl
+  - name: /system/operation_mode/change_operation_mode
+    type: tier4_system_msgs/srv/ChangeOperationMode
+  - name: /system/operation_mode/state
+    type: autoware_adapi_v1_msgs/msg/OperationModeState
+  - name: /vehicle/status/control_mode
+    type: autoware_auto_vehicle_msgs/msg/ControlModeReport
+  - name: /vehicle/status/gear_status
+    type: autoware_auto_vehicle_msgs/msg/GearReport
+  - name: /vehicle/status/hazard_lights_status
+    type: autoware_auto_vehicle_msgs/msg/HazardLightsReport
+  - name: /vehicle/status/steering_status
+    type: autoware_auto_vehicle_msgs/msg/SteeringReport
+  - name: /vehicle/status/turn_indicators_status
+    type: autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport
+  - name: /vehicle/status/velocity_status
+    type: autoware_auto_vehicle_msgs/msg/VelocityReport
+---
+
+# Interfaces
+
+| interface name | data type |
+| -------------- | --------- |
+
+{%- for interface in interfaces %}
+| {{ interface.name }} | {{ interface.type }} |
+{%- endfor %}