diff --git a/doc/doxygen/src/emulators.md b/doc/doxygen/src/emulators.md
index 2596377115..3416af0d0f 100644
--- a/doc/doxygen/src/emulators.md
+++ b/doc/doxygen/src/emulators.md
@@ -17,6 +17,13 @@ with the `RIOT_EMULATOR` variable. Possible values are `qemu` and `renode`.
 If no emulator is specified by the board configuration (e.g. in its
 `Makefile.include`), the default emulator is `renode`.
 
+The boards with emulator supported can be listed using the
+`info-emulated-boards` target:
+
+```
+$ make info-emulated-boards
+```
+
 ## Features
 
 Be aware that not all hardware features provided by a board - and described as
diff --git a/makefiles/boards.inc.mk b/makefiles/boards.inc.mk
index 88992a5f8a..fbbd62d9ec 100644
--- a/makefiles/boards.inc.mk
+++ b/makefiles/boards.inc.mk
@@ -16,6 +16,16 @@ ALLBOARDS := $(sort \
 # Set the default value from `BOARDS`
 BOARDS ?= $(ALLBOARDS)
 
-.PHONY: info-boards
+.PHONY: info-boards info-emulated-boards
 info-boards:
 	@echo $(BOARDS)
+
+EMULATED_BOARDS_RENODE := $(wildcard $(BOARDSDIRS)/*/dist/board.resc)
+EMULATED_BOARDS_QEMU := microbit
+EMULATED_BOARDS := \
+  $(EMULATED_BOARDS_QEMU) \
+  $(foreach board_path,$(EMULATED_BOARDS_RENODE),$(subst $(strip $(BOARDSDIRS)/),,$(subst /dist/board.resc,,$(board_path))))
+  #
+
+info-emulated-boards:
+	@echo $(sort $(EMULATED_BOARDS))