diff --git a/protocols/kad/CHANGELOG.md b/protocols/kad/CHANGELOG.md
index b2a06dc691c..a217fa78b4f 100644
--- a/protocols/kad/CHANGELOG.md
+++ b/protocols/kad/CHANGELOG.md
@@ -15,6 +15,8 @@
   See [PR 5122](https://github.com/libp2p/rust-libp2p/pull/5122).
 - Compute `jobs_query_capacity` accurately.
   See [PR 5148](https://github.com/libp2p/rust-libp2p/pull/5148).
+- Introduce `AsyncBehaviour`, a wrapper of `Behaviour` allowing to easily track Kademlia queries.
+  See [PR 5294](https://github.com/libp2p/rust-libp2p/pull/5294).
 
 ## 0.45.3
 
diff --git a/protocols/kad/src/async_behaviour.rs b/protocols/kad/src/async_behaviour.rs
new file mode 100644
index 00000000000..d6b02013c1e
--- /dev/null
+++ b/protocols/kad/src/async_behaviour.rs
@@ -0,0 +1,356 @@
+use std::{collections::HashMap, task::Poll};
+
+use futures::{channel::mpsc, StreamExt};
+use libp2p_core::{Endpoint, Multiaddr};
+use libp2p_identity::PeerId;
+use libp2p_swarm::{
+    ConnectionDenied, ConnectionId, FromSwarm, NetworkBehaviour, THandler, THandlerInEvent,
+    THandlerOutEvent, ToSwarm,
+};
+
+use crate::{
+    kbucket, store, AddProviderResult, Behaviour, BootstrapResult, Event, GetClosestPeersResult,
+    GetProvidersResult, GetRecordResult, NoKnownPeers, PutRecordResult, QueryId, QueryResult,
+    QueryStats, Quorum, Record, RecordKey,
+};
+
+/// The results of Kademlia queries (strongly typed) and only
+/// those initiated by the user.
+pub struct AsyncQueryResult<T> {
+    pub id: QueryId,
+    pub result: T,
+    pub stats: QueryStats,
+}
+impl<T> AsyncQueryResult<T> {
+    fn map<Out>(self, f: impl Fn(T) -> Out) -> AsyncQueryResult<Out> {
+        AsyncQueryResult {
+            id: self.id,
+            stats: self.stats,
+            result: f(self.result),
+        }
+    }
+}
+
+type UnboundedQueryResultSender<T> = mpsc::UnboundedSender<AsyncQueryResult<T>>;
+
+enum QueryResultSender {
+    Bootstrap(UnboundedQueryResultSender<BootstrapResult>),
+    GetClosestPeers(UnboundedQueryResultSender<GetClosestPeersResult>),
+    GetProviders(UnboundedQueryResultSender<GetProvidersResult>),
+    StartProviding(UnboundedQueryResultSender<AddProviderResult>),
+    GetRecord(UnboundedQueryResultSender<GetRecordResult>),
+    PutRecord(UnboundedQueryResultSender<PutRecordResult>),
+}
+
+/// A handle to receive [`AsyncQueryResult`].
+#[must_use = "Streams do nothing unless polled."]
+pub struct AsyncQueryResultStream<T>(mpsc::UnboundedReceiver<AsyncQueryResult<T>>);
+impl<T> futures::Stream for AsyncQueryResultStream<T> {
+    type Item = AsyncQueryResult<T>;
+
+    fn poll_next(
+        mut self: std::pin::Pin<&mut Self>,
+        cx: &mut std::task::Context<'_>,
+    ) -> Poll<Option<Self::Item>> {
+        self.0.poll_next_unpin(cx)
+    }
+}
+
+/// A wrapper of [`Behaviour`] allowing to easily track
+/// [`QueryResult`] of user initiated Kademlia queries.
+///
+/// For each queries like [`Behaviour::bootstrap`], [`Behaviour::get_closest_peers`], etc
+/// a corresponding method ([`AsyncBehaviour::bootstrap_async`], [`AsyncBehaviour::get_closest_peers_async`])
+/// is available, allowing the developer to be notified from a typed [`AsyncQueryResultStream`]
+/// instead from the normal [`Event::OutboundQueryProgressed`] event.
+///
+/// If a [`QueryResult`] has no corresponding [`AsyncQueryResultStream`] or
+/// if the corresponding one has been dropped, it will simply be forwarded to the `Swarm`
+/// with an [`Event::OutboundQueryProgressed`] like nothing happen.
+///
+/// For more information, see [`Behaviour`].
+pub struct AsyncBehaviour<TStore> {
+    inner: Behaviour<TStore>,
+    query_result_senders: HashMap<QueryId, QueryResultSender>,
+}
+
+impl<TStore> std::ops::Deref for AsyncBehaviour<TStore> {
+    type Target = Behaviour<TStore>;
+
+    fn deref(&self) -> &Self::Target {
+        &self.inner
+    }
+}
+
+impl<TStore> std::ops::DerefMut for AsyncBehaviour<TStore> {
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        &mut self.inner
+    }
+}
+
+impl<TStore> AsyncBehaviour<TStore>
+where
+    TStore: store::RecordStore + Send + 'static,
+{
+    pub fn new(inner: Behaviour<TStore>) -> Self {
+        Self {
+            inner,
+            query_result_senders: Default::default(),
+        }
+    }
+
+    fn handle_inner_event(&mut self, event: Event) -> Option<<Self as NetworkBehaviour>::ToSwarm> {
+        match event {
+            Event::OutboundQueryProgressed {
+                id,
+                result,
+                stats,
+                step,
+            } => {
+                fn do_send<T>(
+                    sender: &UnboundedQueryResultSender<T>,
+                    id: QueryId,
+                    result: T,
+                    stats: QueryStats,
+                ) -> Option<AsyncQueryResult<T>> {
+                    match sender.unbounded_send(AsyncQueryResult { id, result, stats }) {
+                        Ok(_) => {
+                            // The event has been successfully sent into the channel so there is no
+                            // need to forward it backup to the swarm.
+                            None
+                        }
+                        Err(err) => {
+                            // The receiver is closed. This is probably normal (the user got what he needed and dropped the receiver).
+                            // So we don't log anything but we still forward this event back up to the swarm.
+                            Some(err.into_inner())
+                        }
+                    }
+                }
+
+                let Some(sender) = self.query_result_senders.get(&id) else {
+                    // This query was either not triggered by the user or the receiver has been dropped and removed
+                    // so we simply forward it back up to the swarm like nothing happened.
+                    return Some(Event::OutboundQueryProgressed {
+                        id,
+                        result,
+                        stats,
+                        step,
+                    });
+                };
+                let event = match (result, sender) {
+                    (QueryResult::Bootstrap(result), QueryResultSender::Bootstrap(sender)) => {
+                        do_send(sender, id, result, stats).map(|qr| qr.map(QueryResult::Bootstrap))
+                    }
+                    (
+                        QueryResult::GetClosestPeers(result),
+                        QueryResultSender::GetClosestPeers(sender),
+                    ) => do_send(sender, id, result, stats)
+                        .map(|qr| qr.map(QueryResult::GetClosestPeers)),
+                    (
+                        QueryResult::GetProviders(result),
+                        QueryResultSender::GetProviders(sender),
+                    ) => do_send(sender, id, result, stats)
+                        .map(|qr| qr.map(QueryResult::GetProviders)),
+                    (
+                        QueryResult::StartProviding(result),
+                        QueryResultSender::StartProviding(sender),
+                    ) => do_send(sender, id, result, stats)
+                        .map(|qr| qr.map(QueryResult::StartProviding)),
+                    (QueryResult::GetRecord(result), QueryResultSender::GetRecord(sender)) => {
+                        do_send(sender, id, result, stats).map(|qr| qr.map(QueryResult::GetRecord))
+                    }
+                    (QueryResult::PutRecord(result), QueryResultSender::PutRecord(sender)) => {
+                        do_send(sender, id, result, stats).map(|qr| qr.map(QueryResult::PutRecord))
+                    }
+                    (result, _) => {
+                        unreachable!("Wrong sender type for query {id} : unable to send {result:?}")
+                    }
+                };
+
+                if let Some(AsyncQueryResult { id, result, stats }) = event {
+                    // The receiver was closed so we were unable to send the result.
+                    // We remove the sender and forward the event back up to the swarm
+                    self.query_result_senders.remove(&id);
+                    return Some(Event::OutboundQueryProgressed {
+                        id,
+                        result,
+                        stats,
+                        step,
+                    });
+                }
+
+                if step.last {
+                    // This was the last query_result and we just send it successfully.
+                    // We remove the sender. Dropping it will close the channel and
+                    // the receiver will be notified.
+                    self.query_result_senders.remove(&id);
+                }
+
+                None
+            }
+            event => Some(event),
+        }
+    }
+
+    fn add_query<T>(
+        &mut self,
+        query_id: QueryId,
+        f: impl Fn(UnboundedQueryResultSender<T>) -> QueryResultSender,
+    ) -> AsyncQueryResultStream<T> {
+        let (tx, rx) = mpsc::unbounded();
+        self.query_result_senders.insert(query_id, f(tx));
+        AsyncQueryResultStream(rx)
+    }
+
+    /// Start a Bootstrap query and capture its results in a typed [`AsyncQueryResultStream`].
+    ///
+    /// For more information, see [`Behaviour::bootstrap`].
+    pub fn bootstrap_async(
+        &mut self,
+    ) -> Result<AsyncQueryResultStream<BootstrapResult>, NoKnownPeers> {
+        let query_id = self.inner.bootstrap()?;
+        Ok(self.add_query(query_id, QueryResultSender::Bootstrap))
+    }
+
+    /// Start a GetClosestPeers query and capture its results in a typed [`AsyncQueryResultStream`].
+    ///
+    /// For more information, see [`Behaviour::get_closest_peers`].
+    pub fn get_closest_peers_async<K>(
+        &mut self,
+        key: K,
+    ) -> AsyncQueryResultStream<GetClosestPeersResult>
+    where
+        K: Into<kbucket::Key<K>> + Into<Vec<u8>> + Clone,
+    {
+        let query_id = self.inner.get_closest_peers(key);
+        self.add_query(query_id, QueryResultSender::GetClosestPeers)
+    }
+
+    /// Start a GetProviders query and capture its results in a typed [`AsyncQueryResultStream`].
+    ///
+    /// For more information, see [`Behaviour::get_providers`].
+    pub fn get_providers_async(
+        &mut self,
+        key: RecordKey,
+    ) -> AsyncQueryResultStream<GetProvidersResult> {
+        let query_id = self.inner.get_providers(key);
+        self.add_query(query_id, QueryResultSender::GetProviders)
+    }
+
+    /// Start a StartProviding query and capture its results in a typed [`AsyncQueryResultStream`].
+    ///
+    /// For more information, see [`Behaviour::start_providing`].
+    pub fn start_providing_async(
+        &mut self,
+        key: RecordKey,
+    ) -> Result<AsyncQueryResultStream<AddProviderResult>, store::Error> {
+        let query_id = self.inner.start_providing(key)?;
+        Ok(self.add_query(query_id, QueryResultSender::StartProviding))
+    }
+
+    /// Start a GetRecord query and capture its results in a typed [`AsyncQueryResultStream`].
+    ///
+    /// For more information, see [`Behaviour::get_record`].
+    pub fn get_record_async(&mut self, key: RecordKey) -> AsyncQueryResultStream<GetRecordResult> {
+        let query_id = self.inner.get_record(key);
+        self.add_query(query_id, QueryResultSender::GetRecord)
+    }
+
+    /// Start a PutRecord query and capture its results in a typed [`AsyncQueryResultStream`].
+    ///
+    /// For more information, see [`Behaviour::put_record`].
+    pub fn put_record_async(
+        &mut self,
+        record: Record,
+        quorum: Quorum,
+    ) -> Result<AsyncQueryResultStream<PutRecordResult>, store::Error> {
+        let query_id = self.inner.put_record(record, quorum)?;
+        Ok(self.add_query(query_id, QueryResultSender::PutRecord))
+    }
+}
+
+impl<TStore> NetworkBehaviour for AsyncBehaviour<TStore>
+where
+    TStore: store::RecordStore + Send + 'static,
+{
+    type ConnectionHandler = <Behaviour<TStore> as NetworkBehaviour>::ConnectionHandler;
+    type ToSwarm = <Behaviour<TStore> as NetworkBehaviour>::ToSwarm;
+
+    fn handle_pending_inbound_connection(
+        &mut self,
+        connection_id: ConnectionId,
+        local_addr: &Multiaddr,
+        remote_addr: &Multiaddr,
+    ) -> Result<(), ConnectionDenied> {
+        self.inner
+            .handle_pending_inbound_connection(connection_id, local_addr, remote_addr)
+    }
+
+    fn handle_established_inbound_connection(
+        &mut self,
+        connection_id: ConnectionId,
+        peer: PeerId,
+        local_addr: &Multiaddr,
+        remote_addr: &Multiaddr,
+    ) -> Result<THandler<Self>, ConnectionDenied> {
+        self.inner.handle_established_inbound_connection(
+            connection_id,
+            peer,
+            local_addr,
+            remote_addr,
+        )
+    }
+
+    fn handle_pending_outbound_connection(
+        &mut self,
+        connection_id: ConnectionId,
+        maybe_peer: Option<PeerId>,
+        addresses: &[Multiaddr],
+        effective_role: Endpoint,
+    ) -> Result<Vec<Multiaddr>, ConnectionDenied> {
+        self.inner.handle_pending_outbound_connection(
+            connection_id,
+            maybe_peer,
+            addresses,
+            effective_role,
+        )
+    }
+
+    fn handle_established_outbound_connection(
+        &mut self,
+        connection_id: ConnectionId,
+        peer: PeerId,
+        addr: &Multiaddr,
+        role_override: Endpoint,
+    ) -> Result<THandler<Self>, ConnectionDenied> {
+        self.inner
+            .handle_established_outbound_connection(connection_id, peer, addr, role_override)
+    }
+
+    fn on_swarm_event(&mut self, event: FromSwarm<'_>) {
+        self.inner.on_swarm_event(event);
+    }
+
+    fn on_connection_handler_event(
+        &mut self,
+        peer_id: PeerId,
+        connection_id: ConnectionId,
+        event: THandlerOutEvent<Self>,
+    ) {
+        self.inner
+            .on_connection_handler_event(peer_id, connection_id, event);
+    }
+
+    fn poll(
+        &mut self,
+        cx: &mut std::task::Context<'_>,
+    ) -> Poll<ToSwarm<Self::ToSwarm, THandlerInEvent<Self>>> {
+        while let Poll::Ready(event) = self.inner.poll(cx) {
+            if let Some(event) = event.map_out_opt(|e| self.handle_inner_event(e)) {
+                return Poll::Ready(event);
+            }
+        }
+
+        Poll::Pending
+    }
+}
diff --git a/protocols/kad/src/lib.rs b/protocols/kad/src/lib.rs
index bc01b9fd3ce..54dc0185b9e 100644
--- a/protocols/kad/src/lib.rs
+++ b/protocols/kad/src/lib.rs
@@ -36,6 +36,7 @@
 #![cfg_attr(docsrs, feature(doc_cfg, doc_auto_cfg))]
 
 mod addresses;
+mod async_behaviour;
 mod behaviour;
 mod bootstrap;
 mod handler;
@@ -55,6 +56,7 @@ mod proto {
 }
 
 pub use addresses::Addresses;
+pub use async_behaviour::{AsyncBehaviour, AsyncQueryResult, AsyncQueryResultStream};
 pub use behaviour::{
     AddProviderContext, AddProviderError, AddProviderOk, AddProviderPhase, AddProviderResult,
     BootstrapError, BootstrapOk, BootstrapResult, GetClosestPeersError, GetClosestPeersOk,
diff --git a/swarm/CHANGELOG.md b/swarm/CHANGELOG.md
index 75e18a6a5af..fb8c3028208 100644
--- a/swarm/CHANGELOG.md
+++ b/swarm/CHANGELOG.md
@@ -5,6 +5,8 @@
   The address is broadcast to all behaviours via `FromSwarm::NewExternalAddrOfPeer`.
   Protocols that want to collect these addresses can use the new `PeerAddresses` utility.
   See [PR 4371](https://github.com/libp2p/rust-libp2p/pull/4371).
+- Add utility function `map_out_opt` on `ToSwarm`.
+  See [PR 5294](https://github.com/libp2p/rust-libp2p/pull/5294). 
 
 ## 0.44.1
 
diff --git a/swarm/src/behaviour.rs b/swarm/src/behaviour.rs
index 5070871a4c1..20f725e33b4 100644
--- a/swarm/src/behaviour.rs
+++ b/swarm/src/behaviour.rs
@@ -387,6 +387,43 @@ impl<TOutEvent, THandlerIn> ToSwarm<TOutEvent, THandlerIn> {
             },
         }
     }
+
+    /// Map the event the swarm will return to an optional one.
+    pub fn map_out_opt<E>(
+        self,
+        f: impl FnOnce(TOutEvent) -> Option<E>,
+    ) -> Option<ToSwarm<E, THandlerIn>> {
+        match self {
+            ToSwarm::GenerateEvent(e) => f(e).map(ToSwarm::GenerateEvent),
+            ToSwarm::Dial { opts } => Some(ToSwarm::Dial { opts }),
+            ToSwarm::ListenOn { opts } => Some(ToSwarm::ListenOn { opts }),
+            ToSwarm::RemoveListener { id } => Some(ToSwarm::RemoveListener { id }),
+            ToSwarm::NotifyHandler {
+                peer_id,
+                handler,
+                event,
+            } => Some(ToSwarm::NotifyHandler {
+                peer_id,
+                handler,
+                event,
+            }),
+            ToSwarm::NewExternalAddrCandidate(addr) => {
+                Some(ToSwarm::NewExternalAddrCandidate(addr))
+            }
+            ToSwarm::ExternalAddrConfirmed(addr) => Some(ToSwarm::ExternalAddrConfirmed(addr)),
+            ToSwarm::ExternalAddrExpired(addr) => Some(ToSwarm::ExternalAddrExpired(addr)),
+            ToSwarm::CloseConnection {
+                peer_id,
+                connection,
+            } => Some(ToSwarm::CloseConnection {
+                peer_id,
+                connection,
+            }),
+            ToSwarm::NewExternalAddrOfPeer { peer_id, address } => {
+                Some(ToSwarm::NewExternalAddrOfPeer { peer_id, address })
+            }
+        }
+    }
 }
 
 /// The options w.r.t. which connection handler to notify of an event.