diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0bc6b86c5b..f23e7c3b0c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -28,6 +28,7 @@ commands, which is compatible with `sensuctl create`.
 - Added check token substitution integration test.
 - Added the `sensuctl config view` subcommand.
 - Added extension service configuration to staging resources.
+- Added some documentation around extensions.
 
 ### Changed
 - Add logging around the Sensu event pipeline.
diff --git a/rpc/README.md b/rpc/README.md
new file mode 100644
index 0000000000..f307d0130f
--- /dev/null
+++ b/rpc/README.md
@@ -0,0 +1,58 @@
+Sensu RPC Facilities
+====================
+
+Extensions
+----------
+
+```
++---------------+       +-------------+
+|               +------->             |
+| sensu-backend |       | sensu-agent |
+|               <-------+             |
++-----+---^-----+  wss  +-------------+
+      |   |
+      |   | grpc
+      |   |
+  +---v---+---+
+  |           |
+  | extension |
+  |           |
+  +-----------+
+```
+
+Sensu enables user-defined filters, mutators and handlers via a gRPC interface.
+Developers can implement a gRPC service, and connect it to Sensu. Sensu will
+call the methods of the gRPC service during pipeline evaluation.
+
+Because extensions use gRPC, developers can write extensions for Sensu in any
+language that gRPC supports.
+
+To write a Sensu extension, compile the `extension.proto` file in this package
+with protoc and a language plugin. For instance,
+
+```
+protoc -I ../../../../ -I . -I ../types/ -I ../vendor/ --go_out=plugins=grpc:. extension.proto
+```
+
+Is the command for building the `extension.proto` file for Go. However, users
+can compile the `extension.proto` file with any language that gRPC supports.
+
+See  https://grpc.io/docs/quickstart/ for more information on which languages are
+supported.
+
+Once the proto has been compiled, use the generated server interface to write
+an extension definition. This means writing the HandleEvent, MutateEvent and
+FilterEvent methods, and setting up the service to listen on a port.
+
+If you're working in Go, you can make use of Sensu's extension framework simply
+by importing it into your code. See the
+[example](https://github.com/sensu/sensu-go/blob/master/rpc/extension/example/main.go)
+for details.
+
+Once you have successfully authored an extension, it can be called by Sensu.
+Extensions will need to be managed as their own service, external to Sensu.
+While it is technically possible for Sensu to access these extensions
+over remote links, it is far more reliable to operate them on the same node
+the backend is running on.
+
+See the `sensuctl extension` command for more information.