diff --git a/README.md b/README.md
index 09b27085d..81f7f0c9c 100644
--- a/README.md
+++ b/README.md
@@ -1462,6 +1462,47 @@ jobs:
           publish-summary: false
 ```
 
+### Automatic PR number & URL detection
+
+When recording runs to Cypress Cloud, the PR number and URL can be automatically detected if you pass `GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}` 
+via the workflow `env`. When set, this value enables the Action to perform additional logic that grabs the related PR number and URL (if they
+exist) and sets them in the environment variables `CYPRESS_PULL_REQUEST_ID` and `CYPRESS_PULL_REQUEST_URL`, respectively.
+* See Cypress' documentation on [CI Build Information](https://on.cypress.io/guides/continuous-integration/introduction#CI-Build-Information)
+
+Example workflow using the variables:
+```yml
+name: Example echo PR number and URL
+on: push
+jobs:
+  cypress-run:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Cypress run
+        uses: cypress-io/github-action@v6
+        with:
+          record: true
+      - run: echo "PR number is $CYPRESS_PULL_REQUEST_ID"
+      - run: echo "PR URL is $CYPRESS_PULL_REQUEST_URL"
+    env:
+      CYPRESS_RECORD_KEY: ${{ secrets.CYPRESS_RECORD_KEY }}
+      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+```
+
+#### Triggering event: `pull_request`/`pull_request_target`
+
+For either of these events, we set `CYPRESS_PULL_REQUEST_ID` and `CYPRESS_PULL_REQUEST_URL` to that of the PR number and URL, respectively, of the
+PR that triggered the workflow.
+
+#### Triggering event: `push`
+
+When a commit on a branch without a PR is made, the Cypress GitHub Action checks to see if the commit that triggered the workflow has a 
+related PR. If the commit exists in any other PRs, it's considered a related PR. When there are related PRs, we grab the first related PR
+and use that PR's number and URL for `CYPRESS_PULL_REQUEST_ID` and `CYPRESS_PULL_REQUEST_URL`, respectively.
+
+If no related PR is detected, `CYPRESS_PULL_REQUEST_ID` and `CYPRESS_PULL_REQUEST_URL` will be undefined.
+
 ## Node.js
 
 ### Support
diff --git a/dist/index.js b/dist/index.js
index b15cc66b7..80ce2b240 100644
--- a/dist/index.js
+++ b/dist/index.js
@@ -74832,6 +74832,80 @@ const waitOnMaybe = () => {
 
 const I = (x) => x
 
+const detectPrNumber = async () => {
+  const {
+    GITHUB_SHA,
+    GITHUB_TOKEN,
+    GITHUB_RUN_ID,
+    GITHUB_REPOSITORY,
+    GITHUB_HEAD_REF,
+    GITHUB_REF,
+    GITHUB_SERVER_URL,
+    CYPRESS_PULL_REQUEST_ID,
+    CYPRESS_PULL_REQUEST_URL
+  } = process.env
+
+  if (CYPRESS_PULL_REQUEST_ID && CYPRESS_PULL_REQUEST_URL) {
+    // Both pull request envs are already defined - no need to do anything else
+    return
+  }
+
+  const [owner, repo] = GITHUB_REPOSITORY.split('/')
+  let prNumber
+
+  if (GITHUB_TOKEN) {
+    debug(
+      `Detecting PR number by asking GitHub about run ${GITHUB_RUN_ID}`
+    )
+
+    const client = new Octokit({
+      auth: GITHUB_TOKEN
+    })
+
+    if (GITHUB_HEAD_REF) {
+      // GITHUB_HEAD_REF is only defined when the event that triggered it was 'pull_request' or 'pull_request_target' (meaning a PR number should be readily-available)
+      // should have format refs/pull/<pr_number>/merge when triggered by pull_request workflow
+      prNumber = parseInt(GITHUB_REF.split('/')[2])
+    } else {
+      try {
+        const resp = await client.request(
+          'GET /repos/:owner/:repo/commits/:commit_sha/pulls',
+          {
+            owner,
+            repo,
+            commit_sha: GITHUB_SHA
+          }
+        )
+
+        if (
+          resp &&
+          resp.data &&
+          resp.data[0] &&
+          resp.data[0].number
+        ) {
+          prNumber = resp.data[0].number
+        }
+      } catch (e) {
+        console.error(
+          `Unable to fetch related PR data for commit: '${GITHUB_SHA}': `,
+          e
+        )
+      }
+    }
+
+    if (prNumber) {
+      if (!CYPRESS_PULL_REQUEST_ID) {
+        core.exportVariable('CYPRESS_PULL_REQUEST_ID', prNumber)
+      }
+
+      const url = `${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}/pull/${prNumber}`
+      if (!CYPRESS_PULL_REQUEST_URL) {
+        core.exportVariable('CYPRESS_PULL_REQUEST_URL', url)
+      }
+    }
+  }
+}
+
 /**
  * Asks Cypress API if there were already builds for this commit.
  * In that case increments the count to get unique parallel id.
@@ -75065,6 +75139,8 @@ const runTests = async () => {
   core.exportVariable('CYPRESS_CACHE_FOLDER', CYPRESS_CACHE_FOLDER)
   core.exportVariable('TERM', 'xterm')
 
+  await detectPrNumber()
+
   if (customCommand) {
     console.log('Using custom test command: %s', customCommand)
     return execCommand(customCommand, true, 'run tests')
diff --git a/index.js b/index.js
index 81311a294..2b550e382 100644
--- a/index.js
+++ b/index.js
@@ -436,6 +436,80 @@ const waitOnMaybe = () => {
 
 const I = (x) => x
 
+const detectPrNumber = async () => {
+  const {
+    GITHUB_SHA,
+    GITHUB_TOKEN,
+    GITHUB_RUN_ID,
+    GITHUB_REPOSITORY,
+    GITHUB_HEAD_REF,
+    GITHUB_REF,
+    GITHUB_SERVER_URL,
+    CYPRESS_PULL_REQUEST_ID,
+    CYPRESS_PULL_REQUEST_URL
+  } = process.env
+
+  if (CYPRESS_PULL_REQUEST_ID && CYPRESS_PULL_REQUEST_URL) {
+    // Both pull request envs are already defined - no need to do anything else
+    return
+  }
+
+  const [owner, repo] = GITHUB_REPOSITORY.split('/')
+  let prNumber
+
+  if (GITHUB_TOKEN) {
+    debug(
+      `Detecting PR number by asking GitHub about run ${GITHUB_RUN_ID}`
+    )
+
+    const client = new Octokit({
+      auth: GITHUB_TOKEN
+    })
+
+    if (GITHUB_HEAD_REF) {
+      // GITHUB_HEAD_REF is only defined when the event that triggered it was 'pull_request' or 'pull_request_target' (meaning a PR number should be readily-available)
+      // should have format refs/pull/<pr_number>/merge when triggered by pull_request workflow
+      prNumber = parseInt(GITHUB_REF.split('/')[2])
+    } else {
+      try {
+        const resp = await client.request(
+          'GET /repos/:owner/:repo/commits/:commit_sha/pulls',
+          {
+            owner,
+            repo,
+            commit_sha: GITHUB_SHA
+          }
+        )
+
+        if (
+          resp &&
+          resp.data &&
+          resp.data[0] &&
+          resp.data[0].number
+        ) {
+          prNumber = resp.data[0].number
+        }
+      } catch (e) {
+        console.error(
+          `Unable to fetch related PR data for commit: '${GITHUB_SHA}': `,
+          e
+        )
+      }
+    }
+
+    if (prNumber) {
+      if (!CYPRESS_PULL_REQUEST_ID) {
+        core.exportVariable('CYPRESS_PULL_REQUEST_ID', prNumber)
+      }
+
+      const url = `${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}/pull/${prNumber}`
+      if (!CYPRESS_PULL_REQUEST_URL) {
+        core.exportVariable('CYPRESS_PULL_REQUEST_URL', url)
+      }
+    }
+  }
+}
+
 /**
  * Asks Cypress API if there were already builds for this commit.
  * In that case increments the count to get unique parallel id.
@@ -669,6 +743,8 @@ const runTests = async () => {
   core.exportVariable('CYPRESS_CACHE_FOLDER', CYPRESS_CACHE_FOLDER)
   core.exportVariable('TERM', 'xterm')
 
+  await detectPrNumber()
+
   if (customCommand) {
     console.log('Using custom test command: %s', customCommand)
     return execCommand(customCommand, true, 'run tests')