diff --git a/doc/release/next_whats_new/underline-23616.rst b/doc/release/next_whats_new/underline-23616.rst
new file mode 100644
index 000000000000..184c588b842c
--- /dev/null
+++ b/doc/release/next_whats_new/underline-23616.rst
@@ -0,0 +1,12 @@
+Underlining text while using Mathtext
+-------------------------------------
+
+Mathtext now supports the ``\underline`` command.
+
+.. code-block:: python
+
+    import matplotlib.pyplot as plt
+
+    plt.text(0.4, 0.7, r'This is $\underline{underlined}$ text.')
+    plt.text(0.4, 0.3, r'So is $\underline{\mathrm{this}}$.')
+    plt.show()
diff --git a/lib/matplotlib/_mathtext.py b/lib/matplotlib/_mathtext.py
index 21ec24d73286..b04386e7666a 100644
--- a/lib/matplotlib/_mathtext.py
+++ b/lib/matplotlib/_mathtext.py
@@ -2207,6 +2207,8 @@ def csnames(group: str, names: Iterable[str]) -> Regex:
 
         p.overline = cmd(r"\overline", p.required_group("body"))
 
+        p.underline = cmd(r"\underline", p.required_group("body"))
+
         p.overset  = cmd(
             r"\overset",
             p.optional_group("annotation") + p.optional_group("body"))
@@ -2259,6 +2261,7 @@ def csnames(group: str, names: Iterable[str]) -> Regex:
             | p.underset
             | p.sqrt
             | p.overline
+            | p.underline
             | p.text
             | p.boldsymbol
             | p.substack
@@ -2945,6 +2948,21 @@ def overline(self, toks: ParseResults) -> T.Any:
         hlist = Hlist([rightside])
         return [hlist]
 
+    def underline(self, toks: ParseResults) -> T.Any:
+        body = toks["body"]
+        state = self.get_state()
+        thickness = state.get_current_underline_thickness()
+        # Place the underline below `body` (node735).
+        vlist = Vlist([
+            Hlist([body]),
+            Kern(3 * thickness),
+            Hrule(state, thickness),
+        ])
+        delta = vlist.height + vlist.depth + thickness
+        vlist.height = body.height
+        vlist.depth = delta - vlist.height
+        return [Hlist([vlist])]
+
     def _auto_sized_delimiter(self, front: str,
                               middle: list[Box | Char | str],
                               back: str) -> T.Any:
diff --git a/lib/matplotlib/tests/baseline_images/test_mathtext/mathtext1_dejavusans_09.png b/lib/matplotlib/tests/baseline_images/test_mathtext/mathtext1_dejavusans_09.png
new file mode 100644
index 000000000000..9d96e8eb87b9
Binary files /dev/null and b/lib/matplotlib/tests/baseline_images/test_mathtext/mathtext1_dejavusans_09.png differ
diff --git a/lib/matplotlib/tests/test_mathtext.py b/lib/matplotlib/tests/test_mathtext.py
index 33fb8918d22a..a8f9236b5208 100644
--- a/lib/matplotlib/tests/test_mathtext.py
+++ b/lib/matplotlib/tests/test_mathtext.py
@@ -154,6 +154,7 @@
     r'$\left\lbrace\frac{\left\lbrack A^b_c\right\rbrace}{\left\leftbrace D^e_f \right\rbrack}\right\rightbrace\ \left\leftparen\max_{x} \left\lgroup \frac{A}{B}\right\rgroup \right\rightparen$',
     r'$\left( a\middle. b \right)$ $\left( \frac{a}{b} \middle\vert x_i \in P^S \right)$ $\left[ 1 - \middle| a\middle| + \left( x  - \left\lfloor \dfrac{a}{b}\right\rfloor \right)  \right]$',
     r'$\sum_{\substack{k = 1\\ k \neq \lfloor n/2\rfloor}}^{n}P(i,j) \sum_{\substack{i \neq 0\\ -1 \leq i \leq 3\\ 1 \leq j \leq 5}} F^i(x,y) \sum_{\substack{\left \lfloor \frac{n}{2} \right\rfloor}} F(n)$',
+    ' '.join(f'${c}\\underline{{{c}}}$' for c in 'abfghy') + r' $\underline{\left(\dfrac{num}{\underline{den}}\right)}^{\underline{p_1}}$',
 ]
 
 digits = "0123456789"