diff --git a/README.md b/README.md
index 1e19f985..b992616b 100644
--- a/README.md
+++ b/README.md
@@ -50,7 +50,7 @@ are supported. Alternative shells include:
 
 On **macOS** and **Linux,** the standard terminal window is supported. Optionally, `bash` command
 auto completion may be enabled by copying the
-[balena-completion.bash](https://github.com/balena-io/balena-cli/blob/master/balena-completion.bash)
+[balena_comp](https://github.com/balena-io/balena-cli/blob/master/completion/balena-completion.bash)
 file to your system's `bash_completion` directory: check [Docker's command completion
 guide](https://docs.docker.com/compose/completion/) for system setup instructions.
 
diff --git a/completion/_balena b/completion/_balena
new file mode 100644
index 00000000..eb0fab36
--- /dev/null
+++ b/completion/_balena
@@ -0,0 +1,79 @@
+#compdef balena
+#autoload
+
+#GENERATED FILE DON'T MODIFY#
+
+_balena() {
+  typeset -A opt_args
+  local context state line curcontext="$curcontext"
+
+  # Valid top-level completions
+  main_commands=( apps build deploy envs join keys leave login logout logs note orgs preload push scan settings ssh support tags tunnel version whoami api-key app app config device device devices env internal key key local os tag util )
+  # Sub-completions
+  api_key_cmds=( generate )
+  app_cmds=( create purge rename restart rm )
+  config_cmds=( generate inject read reconfigure write )
+  device_cmds=( deactivate identify init local-mode move os-update public-url purge reboot register rename restart rm shutdown )
+  devices_cmds=( supported )
+  env_cmds=( add rename rm )
+  internal_cmds=( osinit )
+  key_cmds=( add rm )
+  local_cmds=( configure flash )
+  os_cmds=( build-config configure download initialize versions )
+  tag_cmds=( rm set )
+
+
+  _arguments -C \
+    '(- 1 *)--version[show version and exit]' \
+    '(- 1 *)'{-h,--help}'[show help options and exit]' \
+    '1:first command:_balena_main_cmds' \
+    '2:second command:_balena_sec_cmds' \
+  && ret=0
+}
+
+(( $+functions[_balena_main_cmds] )) ||
+_balena_main_cmds() {
+  _describe -t main_commands 'command' main_commands "$@" && ret=0
+}
+
+(( $+functions[_balena_sec_cmds] )) ||
+_balena_sec_cmds() {
+  case $line[1] in
+      "api-key")
+        _describe -t api_key_cmds 'api-key_cmd' api_key_cmds "$@" && ret=0
+      ;;
+      "app")
+        _describe -t app_cmds 'app_cmd' app_cmds "$@" && ret=0
+      ;;
+      "config")
+        _describe -t config_cmds 'config_cmd' config_cmds "$@" && ret=0
+      ;;
+      "device")
+        _describe -t device_cmds 'device_cmd' device_cmds "$@" && ret=0
+      ;;
+      "devices")
+        _describe -t devices_cmds 'devices_cmd' devices_cmds "$@" && ret=0
+      ;;
+      "env")
+        _describe -t env_cmds 'env_cmd' env_cmds "$@" && ret=0
+      ;;
+      "internal")
+        _describe -t internal_cmds 'internal_cmd' internal_cmds "$@" && ret=0
+      ;;
+      "key")
+        _describe -t key_cmds 'key_cmd' key_cmds "$@" && ret=0
+      ;;
+      "local")
+        _describe -t local_cmds 'local_cmd' local_cmds "$@" && ret=0
+      ;;
+      "os")
+        _describe -t os_cmds 'os_cmd' os_cmds "$@" && ret=0
+      ;;
+      "tag")
+        _describe -t tag_cmds 'tag_cmd' tag_cmds "$@" && ret=0
+      ;;
+
+  esac
+}
+
+_balena "$@"
diff --git a/balena-completion.bash b/completion/balena-completion.bash
similarity index 51%
rename from balena-completion.bash
rename to completion/balena-completion.bash
index a1500b6c..1e9c7513 100644
--- a/balena-completion.bash
+++ b/completion/balena-completion.bash
@@ -1,24 +1,26 @@
 #!/bin/bash
 
+#GENERATED FILE DON'T MODIFY#
+
 _balena_complete()
 {
   local cur prev
 
   # Valid top-level completions
-  commands="app apps build config deploy device devices env envs help key \
-            keys local login logout logs note os preload quickstart settings \
-            scan ssh util version whoami"
+  main_commands="apps build deploy envs join keys leave login logout logs note orgs preload push scan settings ssh support tags tunnel version whoami api-key app app config device device devices env internal key key local os tag util"
   # Sub-completions
-  app_cmds="create restart rm"
+  api_key_cmds="generate"
+  app_cmds="create purge rename restart rm"
   config_cmds="generate inject read reconfigure write"
-  device_cmds="identify init move public-url reboot register rename rm \
-               shutdown"
-  device_public_url_cmds="disable enable status"
+  device_cmds="deactivate identify init local-mode move os-update public-url purge reboot register rename restart rm shutdown"
+  devices_cmds="supported"
   env_cmds="add rename rm"
+  internal_cmds="osinit"
   key_cmds="add rm"
   local_cmds="configure flash"
   os_cmds="build-config configure download initialize versions"
-  util_cmds="available-drives"
+  tag_cmds="rm set"
+
 
 
   COMPREPLY=()
@@ -27,43 +29,44 @@ _balena_complete()
 
   if [ $COMP_CWORD -eq 1 ]
   then
-    COMPREPLY=( $(compgen -W "${commands}" -- $cur) )
+    COMPREPLY=( $(compgen -W "${main_commands}" -- $cur) )
   elif [ $COMP_CWORD -eq 2 ]
   then
     case "$prev" in
-      "app")
+      api-key)
+        COMPREPLY=( $(compgen -W "$api_key_cmds" -- $cur) )
+        ;;
+      app)
         COMPREPLY=( $(compgen -W "$app_cmds" -- $cur) )
         ;;
-      "config")
+      config)
         COMPREPLY=( $(compgen -W "$config_cmds" -- $cur) )
         ;;
-      "device")
+      device)
         COMPREPLY=( $(compgen -W "$device_cmds" -- $cur) )
         ;;
-      "env")
+      devices)
+        COMPREPLY=( $(compgen -W "$devices_cmds" -- $cur) )
+        ;;
+      env)
         COMPREPLY=( $(compgen -W "$env_cmds" -- $cur) )
         ;;
-      "key")
+      internal)
+        COMPREPLY=( $(compgen -W "$internal_cmds" -- $cur) )
+        ;;
+      key)
         COMPREPLY=( $(compgen -W "$key_cmds" -- $cur) )
         ;;
-      "local")
+      local)
         COMPREPLY=( $(compgen -W "$local_cmds" -- $cur) )
         ;;
-      "os")
+      os)
         COMPREPLY=( $(compgen -W "$os_cmds" -- $cur) )
         ;;
-      "util")
-        COMPREPLY=( $(compgen -W "$util_cmds" -- $cur) )
-        ;;
-      "*")
-        ;;
-    esac
-  elif [ $COMP_CWORD -eq 3 ]
-  then
-    case "$prev" in
-      "public-url")
-        COMPREPLY=( $(compgen -W "$device_public_url_cmds" -- $cur) )
+      tag)
+        COMPREPLY=( $(compgen -W "$tag_cmds" -- $cur) )
         ;;
+
       "*")
         ;;
     esac
diff --git a/completion/generate-completion.js b/completion/generate-completion.js
new file mode 100644
index 00000000..2d0e93a5
--- /dev/null
+++ b/completion/generate-completion.js
@@ -0,0 +1,175 @@
+/**
+ * @license
+ * Copyright 2021 Balena Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+const path = require('path');
+const rootDir = path.join(__dirname, '..');
+const fs = require('fs');
+const manifestFile = 'oclif.manifest.json';
+
+commandsFilePath = path.join(rootDir, manifestFile);
+if (fs.existsSync(commandsFilePath)) {
+	console.log('Generating shell auto completion files...');
+} else {
+	console.error(`generate-completion.js: Could not find "${manifestFile}"`);
+	process.exitCode = 1;
+	return;
+}
+
+const commandsJson = JSON.parse(fs.readFileSync(commandsFilePath, 'utf8'));
+
+var mainCommands = [];
+var additionalCommands = [];
+for (const key of Object.keys(commandsJson.commands)) {
+	const cmd = key.split(':');
+	if (cmd.length > 1) {
+		additionalCommands.push(cmd);
+		if (!mainCommands.includes(cmd[0])) {
+			mainCommands.push(cmd[0]);
+		}
+	} else {
+		mainCommands.push(cmd[0]);
+	}
+}
+const mainCommandsStr = mainCommands.join(' ');
+
+// GENERATE BASH COMPLETION FILE
+bashFilePathIn = path.join(__dirname, '/templates/bash.template');
+bashFilePathOut = path.join(__dirname, 'balena-completion.bash');
+
+try {
+	fs.unlinkSync(bashFilePathOut);
+} catch (error) {
+	process.exitCode = 1;
+	return console.error(error);
+}
+
+fs.readFile(bashFilePathIn, 'utf8', function (err, data) {
+	if (err) {
+		process.exitCode = 1;
+		return console.error(err);
+	}
+
+	data = data.replace(
+		'#TEMPLATE FILE FOR BASH COMPLETION#',
+		"#GENERATED FILE DON'T MODIFY#",
+	);
+
+	data = data.replace(
+		/\$main_commands\$/g,
+		'main_commands="' + mainCommandsStr + '"',
+	);
+	var subCommands = [];
+	var prevElement = additionalCommands[0][0];
+	additionalCommands.forEach(function (element) {
+		if (element[0] === prevElement) {
+			subCommands.push(element[1]);
+		} else {
+			const prevElement2 = prevElement.replace(/-/g, '_') + '_cmds';
+			data = data.replace(
+				/\$sub_cmds\$/g,
+				'  ' + prevElement2 + '="' + subCommands.join(' ') + '"\n$sub_cmds$',
+			);
+			data = data.replace(
+				/\$sub_cmds_prev\$/g,
+				'      ' +
+					prevElement +
+					')\n        COMPREPLY=( $(compgen -W "$' +
+					prevElement2 +
+					'" -- $cur) )\n        ;;\n$sub_cmds_prev$',
+			);
+			prevElement = element[0];
+			subCommands = [];
+			subCommands.push(element[1]);
+		}
+	});
+	// cleanup placeholders
+	data = data.replace(/\$sub_cmds\$/g, '');
+	data = data.replace(/\$sub_cmds_prev\$/g, '');
+
+	fs.writeFile(bashFilePathOut, data, 'utf8', function (error) {
+		if (error) {
+			process.exitCode = 1;
+			return console.error(error);
+		}
+	});
+});
+
+// GENERATE ZSH COMPLETION FILE
+zshFilePathIn = path.join(__dirname, '/templates/zsh.template');
+zshFilePathOut = path.join(__dirname, '_balena');
+
+try {
+	fs.unlinkSync(zshFilePathOut);
+} catch (error) {
+	process.exitCode = 1;
+	return console.error(error);
+}
+
+fs.readFile(zshFilePathIn, 'utf8', function (err, data) {
+	if (err) {
+		process.exitCode = 1;
+		return console.error(err);
+	}
+
+	data = data.replace(
+		'#TEMPLATE FILE FOR ZSH COMPLETION#',
+		"#GENERATED FILE DON'T MODIFY#",
+	);
+
+	data = data.replace(
+		/\$main_commands\$/g,
+		'main_commands=( ' + mainCommandsStr + ' )',
+	);
+	var subCommands = [];
+	var prevElement = additionalCommands[0][0];
+	additionalCommands.forEach(function (element) {
+		if (element[0] === prevElement) {
+			subCommands.push(element[1]);
+		} else {
+			const prevElement2 = prevElement.replace(/-/g, '_') + '_cmds';
+			data = data.replace(
+				/\$sub_cmds\$/g,
+				'  ' + prevElement2 + '=( ' + subCommands.join(' ') + ' )\n$sub_cmds$',
+			);
+			data = data.replace(
+				/\$sub_cmds_prev\$/g,
+				'      "' +
+					prevElement +
+					'")\n        _describe -t ' +
+					prevElement2 +
+					" '" +
+					prevElement +
+					"_cmd' " +
+					prevElement2 +
+					' "$@" && ret=0\n      ;;\n$sub_cmds_prev$',
+			);
+			prevElement = element[0];
+			subCommands = [];
+			subCommands.push(element[1]);
+		}
+	});
+	// cleanup placeholders
+	data = data.replace(/\$sub_cmds\$/g, '');
+	data = data.replace(/\$sub_cmds_prev\$/g, '');
+
+	fs.writeFile(zshFilePathOut, data, 'utf8', function (error) {
+		if (error) {
+			process.exitCode = 1;
+			return console.error(error);
+		}
+	});
+});
diff --git a/completion/templates/bash.template b/completion/templates/bash.template
new file mode 100644
index 00000000..0ca665c9
--- /dev/null
+++ b/completion/templates/bash.template
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+#TEMPLATE FILE FOR BASH COMPLETION#
+
+_balena_complete()
+{
+  local cur prev
+
+  # Valid top-level completions
+  $main_commands$
+  # Sub-completions
+$sub_cmds$
+
+
+  COMPREPLY=()
+  cur=${COMP_WORDS[COMP_CWORD]}
+  prev=${COMP_WORDS[COMP_CWORD-1]}
+
+  if [ $COMP_CWORD -eq 1 ]
+  then
+    COMPREPLY=( $(compgen -W "${main_commands}" -- $cur) )
+  elif [ $COMP_CWORD -eq 2 ]
+  then
+    case "$prev" in
+$sub_cmds_prev$
+      "*")
+        ;;
+    esac
+  fi
+
+}
+complete -F _balena_complete balena
diff --git a/completion/templates/zsh.template b/completion/templates/zsh.template
new file mode 100644
index 00000000..4676869f
--- /dev/null
+++ b/completion/templates/zsh.template
@@ -0,0 +1,35 @@
+#compdef balena
+#autoload
+
+#TEMPLATE FILE FOR ZSH COMPLETION#
+
+_balena() {
+  typeset -A opt_args
+  local context state line curcontext="$curcontext"
+
+  # Valid top-level completions
+  $main_commands$
+  # Sub-completions
+$sub_cmds$
+
+  _arguments -C \
+    '(- 1 *)--version[show version and exit]' \
+    '(- 1 *)'{-h,--help}'[show help options and exit]' \
+    '1:first command:_balena_main_cmds' \
+    '2:second command:_balena_sec_cmds' \
+  && ret=0
+}
+
+(( $+functions[_balena_main_cmds] )) ||
+_balena_main_cmds() {
+  _describe -t main_commands 'command' main_commands "$@" && ret=0
+}
+
+(( $+functions[_balena_sec_cmds] )) ||
+_balena_sec_cmds() {
+  case $line[1] in
+$sub_cmds_prev$
+  esac
+}
+
+_balena "$@"
diff --git a/doc/cli.markdown b/doc/cli.markdown
index 0296718b..55a0ff6d 100644
--- a/doc/cli.markdown
+++ b/doc/cli.markdown
@@ -43,7 +43,7 @@ are supported. Alternative shells include:
 
 On **macOS** and **Linux,** the standard terminal window is supported. Optionally, `bash` command
 auto completion may be enabled by copying the
-[balena-completion.bash](https://github.com/balena-io/balena-cli/blob/master/balena-completion.bash)
+[balena_comp](https://github.com/balena-io/balena-cli/blob/master/completion/balena-completion.bash)
 file to your system's `bash_completion` directory: check [Docker's command completion
 guide](https://docs.docker.com/compose/completion/) for system setup instructions.
 
diff --git a/package.json b/package.json
index c1ae824a..d372695e 100644
--- a/package.json
+++ b/package.json
@@ -48,10 +48,11 @@
     "postinstall": "node patches/apply-patches.js",
     "prebuild": "rimraf build/ build-bin/",
     "build": "npm run build:src && npm run catch-uncommitted",
-    "build:src": "npm run lint && npm run build:fast && npm run build:test && npm run build:doc",
+    "build:src": "npm run lint && npm run build:fast && npm run build:test && npm run build:doc && npm run build:completion",
     "build:fast": "gulp pages && tsc && npx oclif-dev manifest",
     "build:test": "tsc -P ./tsconfig.dev.json --noEmit && tsc -P ./tsconfig.js.json --noEmit",
     "build:doc": "mkdirp doc/ && ts-node --transpile-only automation/capitanodoc/index.ts > doc/cli.markdown",
+    "build:completion": "node completion/generate-completion.js",
     "build:standalone": "ts-node --transpile-only automation/run.ts build:standalone",
     "build:installer": "ts-node --transpile-only automation/run.ts build:installer",
     "package": "npm run build:fast && npm run build:standalone && npm run build:installer",
@@ -67,7 +68,7 @@
     "catch-uncommitted": "ts-node --transpile-only automation/run.ts catch-uncommitted",
     "ci": "npm run test && npm run catch-uncommitted",
     "watch": "gulp watch",
-    "lint": "balena-lint -e ts -e js --typescript --fix automation/ lib/ typings/ tests/ bin/balena bin/balena-dev gulpfile.js .mocharc.js .mocharc-standalone.js",
+    "lint": "balena-lint -e ts -e js --typescript --fix automation/ completion/ lib/ typings/ tests/ bin/balena bin/balena-dev gulpfile.js .mocharc.js .mocharc-standalone.js",
     "update": "ts-node --transpile-only ./automation/update-module.ts",
     "prepare": "echo {} > bin/.fast-boot.json",
     "prepublishOnly": "npm run build"