diff --git a/include/nuttx/wqueue.h b/include/nuttx/wqueue.h
index 659f1b8596a..7ab1e81e051 100644
--- a/include/nuttx/wqueue.h
+++ b/include/nuttx/wqueue.h
@@ -292,6 +292,10 @@ struct work_notifier_s
   worker_t worker;     /* The worker function to schedule */
 };
 
+/* This is the callback type used by work_foreach() */
+
+typedef CODE void (*work_foreach_t)(int tid, FAR void *arg);
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/
@@ -381,6 +385,25 @@ int work_queue(int qid, FAR struct work_s *work, worker_t worker,
 
 int work_cancel(int qid, FAR struct work_s *work);
 
+/****************************************************************************
+ * Name: work_foreach
+ *
+ * Description:
+ *   Enumerate over each work thread and provide the tid of each task to a
+ *   user callback functions.
+ *
+ * Input Parameters:
+ *   qid     - The work queue ID
+ *   handler - The function to be called with the pid of each task
+ *   arg     - The function callback
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void work_foreach(int qid, work_foreach_t handler, FAR void *arg);
+
 /****************************************************************************
  * Name: work_available
  *
diff --git a/sched/wqueue/kwork_thread.c b/sched/wqueue/kwork_thread.c
index 6a6cb025d71..847d26283b5 100644
--- a/sched/wqueue/kwork_thread.c
+++ b/sched/wqueue/kwork_thread.c
@@ -232,9 +232,7 @@ static int work_thread_create(FAR const char *name, int priority,
           return pid;
         }
 
-#ifdef CONFIG_PRIORITY_INHERITANCE
       wqueue->worker[wndx].pid  = pid;
-#endif
     }
 
   sched_unlock();
@@ -245,6 +243,55 @@ static int work_thread_create(FAR const char *name, int priority,
  * Public Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: work_foreach
+ *
+ * Description:
+ *   Enumerate over each work thread and provide the tid of each task to a
+ *   user callback functions.
+ *
+ * Input Parameters:
+ *   qid     - The work queue ID
+ *   handler - The function to be called with the pid of each task
+ *   arg     - The function callback
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void work_foreach(int qid, work_foreach_t handler, FAR void *arg)
+{
+  FAR struct kwork_wqueue_s *wqueue;
+  int nthread;
+  int wndx;
+
+#ifdef CONFIG_SCHED_HPWORK
+  if (qid == HPWORK)
+    {
+      wqueue  = (FAR struct kwork_wqueue_s *)&g_hpwork;
+      nthread = CONFIG_SCHED_HPNTHREADS;
+    }
+  else
+#endif
+#ifdef CONFIG_SCHED_LPWORK
+  if (qid == LPWORK)
+    {
+      wqueue  = (FAR struct kwork_wqueue_s *)&g_lpwork;
+      nthread = CONFIG_SCHED_LPNTHREADS;
+    }
+  else
+#endif
+    {
+      return;
+    }
+
+  for (wndx = 0; wndx < nthread; wndx++)
+    {
+      handler(wqueue->worker[wndx].pid, arg);
+    }
+}
+
 /****************************************************************************
  * Name: work_start_highpri
  *
diff --git a/sched/wqueue/wqueue.h b/sched/wqueue/wqueue.h
index 774cebcda2b..399a3fbddc7 100644
--- a/sched/wqueue/wqueue.h
+++ b/sched/wqueue/wqueue.h
@@ -51,9 +51,7 @@
 
 struct kworker_s
 {
-#ifdef CONFIG_PRIORITY_INHERITANCE
   pid_t             pid;       /* The task ID of the worker thread */
-#endif
 };
 
 /* This structure defines the state of one kernel-mode work queue */