diff --git a/ChangeLog b/ChangeLog
index b64a725cd46..08e8bbe0515 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -386,10 +386,15 @@ must rename the associated identification.
 
 * Allow the choice of f-strings as a valid way of formatting logging strings.
 
-Closes #2395
+  Closes #2395
 
 * Added ``--list-msgs-enabled`` command to list all enabled and disabled messages given the current RC file and command line arguments.
 
+* Fixed ``missing-yield-type-doc`` getting incorrectly raised when
+  a generator does not document a yield type but has a type annotation.
+
+  Closes #3185
+
 What's New in Pylint 2.3.0?
 ===========================
 
diff --git a/pylint/extensions/docparams.py b/pylint/extensions/docparams.py
index ca5fed23ce3..d5a15a4f3e2 100644
--- a/pylint/extensions/docparams.py
+++ b/pylint/extensions/docparams.py
@@ -316,7 +316,7 @@ def visit_yield(self, node):
         if not doc_has_yields:
             self.add_message("missing-yield-doc", node=func_node)
 
-        if not doc_has_yields_type:
+        if not (doc_has_yields_type or func_node.returns):
             self.add_message("missing-yield-type-doc", node=func_node)
 
     def visit_yieldfrom(self, node):
diff --git a/tests/extensions/test_check_docs.py b/tests/extensions/test_check_docs.py
index 90ccf633452..d2e98ee250e 100644
--- a/tests/extensions/test_check_docs.py
+++ b/tests/extensions/test_check_docs.py
@@ -16,6 +16,8 @@
 """Unit tests for the pylint checkers in :mod:`pylint.extensions.check_docs`,
 in particular the parameter documentation checker `DocstringChecker`
 """
+import sys
+
 import astroid
 import pytest
 
diff --git a/tests/extensions/test_check_return_docs.py b/tests/extensions/test_check_return_docs.py
index c8758b43c09..caaf1b2f132 100644
--- a/tests/extensions/test_check_return_docs.py
+++ b/tests/extensions/test_check_return_docs.py
@@ -12,7 +12,10 @@
 """Unit tests for the return documentation checking in the
 `DocstringChecker` in :mod:`pylint.extensions.check_docs`
 """
+import sys
+
 import astroid
+import pytest
 
 from pylint.extensions.docparams import DocstringParameterChecker
 from pylint.testutils import CheckerTestCase, Message, set_config
@@ -76,21 +79,6 @@ def my_func(self):
         ):
             self.checker.visit_return(return_node)
 
-    def test_sphinx_returns_annotations(self):
-        node = astroid.extract_node(
-            '''
-        def my_func(self) -> bool:
-            """This is a docstring.
-
-            :returns: Always False
-            """
-            return False
-        '''
-        )
-        return_node = node.body[0]
-        with self.assertNoMessages():
-            self.checker.visit_return(return_node)
-
     def test_sphinx_missing_return_type_with_annotations(self):
         node = astroid.extract_node(
             '''
diff --git a/tests/extensions/test_check_yields_docs.py b/tests/extensions/test_check_yields_docs.py
index 4987e75c648..93d73a1b510 100644
--- a/tests/extensions/test_check_yields_docs.py
+++ b/tests/extensions/test_check_yields_docs.py
@@ -9,7 +9,10 @@
 """Unit tests for the yield documentation checking in the
 `DocstringChecker` in :mod:`pylint.extensions.check_docs`
 """
+import sys
+
 import astroid
+import pytest
 
 from pylint.extensions.docparams import DocstringParameterChecker
 from pylint.testutils import CheckerTestCase, Message, set_config
@@ -445,3 +448,38 @@ def my_func(self):
         )
         with self.assertAddsMessages(Message(msg_id="redundant-yields-doc", node=node)):
             self.checker.visit_functiondef(node)
+
+    def test_sphinx_missing_yield_type_with_annotations(self):
+        node = astroid.extract_node(
+            '''
+            import typing
+
+            def generator() -> typing.Iterator[int]:
+                """A simple function for checking type hints.
+
+                :returns: The number 0
+                """
+                yield 0
+            '''
+        )
+        yield_node = node.body[0]
+        with self.assertNoMessages():
+            self.checker.visit_yield(yield_node)
+
+    def test_google_missing_yield_type_with_annotations(self):
+        node = astroid.extract_node(
+            '''
+            import typing
+
+            def generator() -> typing.Iterator[int]:
+                """A simple function for checking type hints.
+
+                Yields:
+                    The number 0
+                """
+                yield 0
+            '''
+        )
+        yield_node = node.body[0]
+        with self.assertNoMessages():
+            self.checker.visit_yield(yield_node)