diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 933920b..2c22326 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/psf/black
-    rev: 22.1.0
+    rev: 22.3.0
     hooks:
       - id: black
         exclude: ^(docs_src/|examples/)
@@ -11,7 +11,7 @@ repos:
         exclude: ^(docs_src/|examples/|tests/)
         args: [ '--max-line-length=88' ]
   - repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.931
+    rev: v0.961
     hooks:
       - id: mypy
         exclude: ^(docs_src/|examples/)
diff --git a/README.md b/README.md
index 525c87a..05632be 100644
--- a/README.md
+++ b/README.md
@@ -595,6 +595,7 @@ metadata.drop_all(engine)
 *  `bulk_update(objects: List[Model], columns: List[str] = None) -> None`
 *  `delete(*args, each: bool = False, **kwargs) -> int`
 *  `all(*args, **kwargs) -> List[Optional[Model]]`
+*  `iterate(*args, **kwargs) -> AsyncGenerator[Model]`
 *  `filter(*args, **kwargs) -> QuerySet`
 *  `exclude(*args, **kwargs) -> QuerySet`
 *  `select_related(related: Union[List, str]) -> QuerySet`
diff --git a/docs/index.md b/docs/index.md
index 6ea70e8..5eaaacf 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -604,6 +604,7 @@ metadata.drop_all(engine)
 *  `bulk_update(objects: List[Model], columns: List[str] = None) -> None`
 *  `delete(*args, each: bool = False, **kwargs) -> int`
 *  `all(*args, **kwargs) -> List[Optional[Model]]`
+*  `iterate(*args, **kwargs) -> AsyncGenerator[Model]`
 *  `filter(*args, **kwargs) -> QuerySet`
 *  `exclude(*args, **kwargs) -> QuerySet`
 *  `select_related(related: Union[List, str]) -> QuerySet`
diff --git a/docs/queries/read.md b/docs/queries/read.md
index 9fa6794..68fa50a 100644
--- a/docs/queries/read.md
+++ b/docs/queries/read.md
@@ -173,6 +173,45 @@ tracks = await Track.objects.all()
 
 ```
 
+## iterate
+
+`iterate(*args, **kwargs) -> AsyncGenerator["Model"]`
+
+Return async iterable generator for all rows from a database for given model.
+
+Passing args and/or kwargs is a shortcut and equals to calling `filter(*args, **kwargs).iterate()`.
+
+If there are no rows meeting the criteria an empty async generator is returned.
+
+```python
+class Album(ormar.Model):
+    class Meta:
+        tablename = "album"
+        metadata = metadata
+        database = database
+
+    id: int = ormar.Integer(primary_key=True)
+    name: str = ormar.String(max_length=100)
+```
+
+```python
+await Album.objects.create(name='The Cat')
+await Album.objects.create(name='The Dog')
+# will asynchronously iterate all Album models yielding one main model at a time from the generator
+async for album in Album.objects.iterate():
+    print(album.name)
+
+# The Cat
+# The Dog
+
+```
+
+!!!warning
+    Use of `iterate()` causes previous `prefetch_related()` calls to be ignored;
+    since these two optimizations do not make sense together.
+
+    If `iterate()` & `prefetch_related()` are used together the `QueryDefinitionError` exception is raised.
+
 ## Model methods
 
 Each model instance have a set of methods to `save`, `update` or `load` itself.
@@ -235,4 +274,4 @@ objects from other side of the relation.
     To read more about `QuerysetProxy` visit [querysetproxy][querysetproxy] section
 
 
-[querysetproxy]: ../relations/queryset-proxy.md
\ No newline at end of file
+[querysetproxy]: ../relations/queryset-proxy.md
diff --git a/docs/relations/queryset-proxy.md b/docs/relations/queryset-proxy.md
index 4d167b6..fcfc0a0 100644
--- a/docs/relations/queryset-proxy.md
+++ b/docs/relations/queryset-proxy.md
@@ -84,6 +84,23 @@ assert news_posts[0].author == guido
 !!!tip
     Read more in queries documentation [all][all]
 
+### iterate
+
+`iterate(**kwargs) -> AsyncGenerator["Model"]`
+
+To iterate on related models use `iterate()` method.
+
+Note that you can filter the queryset, select related, exclude fields etc. like in normal query.
+
+```python
+# iterate on categories of this post with an async generator
+async for category in post.categories.iterate():
+    print(category.name)
+```
+
+!!!tip
+    Read more in queries documentation [iterate][iterate]
+
 ## Insert/ update data into database
 
 ### create
@@ -294,6 +311,7 @@ Returns a bool value to confirm if there are rows matching the given criteria (a
 [queries]: ../queries/index.md
 [get]: ../queries/read.md#get
 [all]: ../queries/read.md#all
+[iterate]: ../queries/read.md#iterate
 [create]: ../queries/create.md#create
 [get_or_create]: ../queries/read.md#get_or_create
 [update_or_create]: ../queries/update.md#update_or_create
diff --git a/ormar/queryset/queryset.py b/ormar/queryset/queryset.py
index 5ea70fa..5ae40b6 100644
--- a/ormar/queryset/queryset.py
+++ b/ormar/queryset/queryset.py
@@ -12,6 +12,7 @@ from typing import (
     TypeVar,
     Union,
     cast,
+    AsyncGenerator,
 )
 
 import databases
@@ -1055,6 +1056,55 @@ class QuerySet(Generic[T]):
 
         return result_rows
 
+    async def iterate(  # noqa: A003
+        self,
+        *args: Any,
+        **kwargs: Any,
+    ) -> AsyncGenerator["T", None]:
+        """
+        Return async iterable generator for all rows from a database for given model.
+
+        Passing args and/or kwargs is a shortcut and equals to calling
+        `filter(*args, **kwargs).iterate()`.
+
+        If there are no rows meeting the criteria an empty async generator is returned.
+
+        :param kwargs: fields names and proper value types
+        :type kwargs: Any
+        :return: asynchronous iterable generator of returned models
+        :rtype: AsyncGenerator[Model]
+        """
+
+        if self._prefetch_related:
+            raise QueryDefinitionError(
+                "Prefetch related queries are not supported in iterators"
+            )
+
+        if kwargs or args:
+            async for result in self.filter(*args, **kwargs).iterate():
+                yield result
+            return
+
+        expr = self.build_select_expression()
+
+        rows: list = []
+        last_primary_key = None
+        pk_alias = self.model.get_column_alias(self.model_meta.pkname)
+
+        async for row in self.database.iterate(query=expr):
+            current_primary_key = row[pk_alias]
+            if last_primary_key == current_primary_key or last_primary_key is None:
+                last_primary_key = current_primary_key
+                rows.append(row)
+                continue
+
+            yield self._process_query_result_rows(rows)[0]
+            last_primary_key = current_primary_key
+            rows = [row]
+
+        if rows:
+            yield self._process_query_result_rows(rows)[0]
+
     async def create(self, **kwargs: Any) -> "T":
         """
         Creates the model instance, saves it in a database and returns the updates model
diff --git a/ormar/relations/querysetproxy.py b/ormar/relations/querysetproxy.py
index b49ca4f..e27934d 100644
--- a/ormar/relations/querysetproxy.py
+++ b/ormar/relations/querysetproxy.py
@@ -14,6 +14,7 @@ from typing import (  # noqa: I100, I201
     TypeVar,
     Union,
     cast,
+    AsyncGenerator,
 )
 
 import ormar  # noqa: I100, I202
@@ -431,6 +432,28 @@ class QuerysetProxy(Generic[T]):
         self._register_related(all_items)
         return all_items
 
+    async def iterate(  # noqa: A003
+        self,
+        *args: Any,
+        **kwargs: Any,
+    ) -> AsyncGenerator["T", None]:
+        """
+        Return async iterable generator for all rows from a database for given model.
+
+        Passing args and/or kwargs is a shortcut and equals to calling
+        `filter(*args, **kwargs).iterate()`.
+
+        If there are no rows meeting the criteria an empty async generator is returned.
+
+        :param kwargs: fields names and proper value types
+        :type kwargs: Any
+        :return: asynchronous iterable generator of returned models
+        :rtype: AsyncGenerator[Model]
+        """
+
+        async for item in self.queryset.iterate(*args, **kwargs):
+            yield item
+
     async def create(self, **kwargs: Any) -> "T":
         """
         Creates the model instance, saves it in a database and returns the updates model
diff --git a/tests/test_model_definition/test_iterate.py b/tests/test_model_definition/test_iterate.py
new file mode 100644
index 0000000..54fd324
--- /dev/null
+++ b/tests/test_model_definition/test_iterate.py
@@ -0,0 +1,268 @@
+import uuid
+import databases
+import pytest
+import sqlalchemy
+
+import ormar
+from ormar.exceptions import QueryDefinitionError
+from tests.settings import DATABASE_URL
+
+database = databases.Database(DATABASE_URL, force_rollback=True)
+metadata = sqlalchemy.MetaData()
+
+
+class User(ormar.Model):
+    class Meta:
+        tablename = "users3"
+        metadata = metadata
+        database = database
+
+    id: int = ormar.Integer(primary_key=True)
+    name: str = ormar.String(max_length=100, default="")
+
+
+class User2(ormar.Model):
+    class Meta:
+        tablename = "users4"
+        metadata = metadata
+        database = database
+
+    id: uuid.UUID = ormar.UUID(
+        uuid_format="string", primary_key=True, default=uuid.uuid4
+    )
+    name: str = ormar.String(max_length=100, default="")
+
+
+class Task(ormar.Model):
+    class Meta:
+        tablename = "tasks"
+        metadata = metadata
+        database = database
+
+    id: int = ormar.Integer(primary_key=True)
+    name: str = ormar.String(max_length=100, default="")
+    user: User = ormar.ForeignKey(to=User)
+
+
+class Task2(ormar.Model):
+    class Meta:
+        tablename = "tasks2"
+        metadata = metadata
+        database = database
+
+    id: uuid.UUID = ormar.UUID(
+        uuid_format="string", primary_key=True, default=uuid.uuid4
+    )
+    name: str = ormar.String(max_length=100, default="")
+    user: User2 = ormar.ForeignKey(to=User2)
+
+
+@pytest.fixture(autouse=True, scope="module")
+def create_test_database():
+    engine = sqlalchemy.create_engine(DATABASE_URL)
+    metadata.drop_all(engine)
+    metadata.create_all(engine)
+    yield
+    metadata.drop_all(engine)
+
+
+@pytest.mark.asyncio
+async def test_empty_result():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            async for user in User.objects.iterate():
+                pass  # pragma: no cover
+
+
+@pytest.mark.asyncio
+async def test_model_iterator():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User.objects.create(name="Tom")
+            jane = await User.objects.create(name="Jane")
+            lucy = await User.objects.create(name="Lucy")
+
+            async for user in User.objects.iterate():
+                assert user in (tom, jane, lucy)
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_filter():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User.objects.create(name="Tom")
+            await User.objects.create(name="Jane")
+            await User.objects.create(name="Lucy")
+
+            async for user in User.objects.iterate(name="Tom"):
+                assert user.name == tom.name
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_relations():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User.objects.create(name="Tom")
+            jane = await User.objects.create(name="Jane")
+            lucy = await User.objects.create(name="Lucy")
+
+            for user in tom, jane, lucy:
+                await Task.objects.create(name="task1", user=user)
+                await Task.objects.create(name="task2", user=user)
+
+            results = []
+            async for user in User.objects.select_related(User.tasks).iterate():
+                assert len(user.tasks) == 2
+                results.append(user)
+
+            assert len(results) == 3
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_relations_queryset_proxy():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User.objects.create(name="Tom")
+            jane = await User.objects.create(name="Jane")
+
+            for user in tom, jane:
+                await Task.objects.create(name="task1", user=user)
+                await Task.objects.create(name="task2", user=user)
+
+            tom_tasks = []
+            async for task in tom.tasks.iterate():
+                assert task.name in ("task1", "task2")
+                tom_tasks.append(task)
+
+            assert len(tom_tasks) == 2
+
+            jane_tasks = []
+            async for task in jane.tasks.iterate():
+                assert task.name in ("task1", "task2")
+                jane_tasks.append(task)
+
+            assert len(jane_tasks) == 2
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_uneven_number_of_relations():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User.objects.create(name="Tom")
+            jane = await User.objects.create(name="Jane")
+            lucy = await User.objects.create(name="Lucy")
+
+            for user in tom, jane:
+                await Task.objects.create(name="task1", user=user)
+                await Task.objects.create(name="task2", user=user)
+
+            await Task.objects.create(name="task3", user=lucy)
+            expected_counts = {"Tom": 2, "Jane": 2, "Lucy": 1}
+            results = []
+            async for user in User.objects.select_related(User.tasks).iterate():
+                assert len(user.tasks) == expected_counts[user.name]
+                results.append(user)
+
+            assert len(results) == 3
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_uuid_pk():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User2.objects.create(name="Tom")
+            jane = await User2.objects.create(name="Jane")
+            lucy = await User2.objects.create(name="Lucy")
+
+            async for user in User2.objects.iterate():
+                assert user in (tom, jane, lucy)
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_filter_uuid_pk():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User2.objects.create(name="Tom")
+            await User2.objects.create(name="Jane")
+            await User2.objects.create(name="Lucy")
+
+            async for user in User2.objects.iterate(name="Tom"):
+                assert user.name == tom.name
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_relations_uuid_pk():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User2.objects.create(name="Tom")
+            jane = await User2.objects.create(name="Jane")
+            lucy = await User2.objects.create(name="Lucy")
+
+            for user in tom, jane, lucy:
+                await Task2.objects.create(name="task1", user=user)
+                await Task2.objects.create(name="task2", user=user)
+
+            results = []
+            async for user in User2.objects.select_related(User2.task2s).iterate():
+                assert len(user.task2s) == 2
+                results.append(user)
+
+            assert len(results) == 3
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_relations_queryset_proxy_uuid_pk():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User2.objects.create(name="Tom")
+            jane = await User2.objects.create(name="Jane")
+
+            for user in tom, jane:
+                await Task2.objects.create(name="task1", user=user)
+                await Task2.objects.create(name="task2", user=user)
+
+            tom_tasks = []
+            async for task in tom.task2s.iterate():
+                assert task.name in ("task1", "task2")
+                tom_tasks.append(task)
+
+            assert len(tom_tasks) == 2
+
+            jane_tasks = []
+            async for task in jane.task2s.iterate():
+                assert task.name in ("task1", "task2")
+                jane_tasks.append(task)
+
+            assert len(jane_tasks) == 2
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_uneven_number_of_relations_uuid_pk():
+    async with database:
+        async with database.transaction(force_rollback=True):
+            tom = await User2.objects.create(name="Tom")
+            jane = await User2.objects.create(name="Jane")
+            lucy = await User2.objects.create(name="Lucy")
+
+            for user in tom, jane:
+                await Task2.objects.create(name="task1", user=user)
+                await Task2.objects.create(name="task2", user=user)
+
+            await Task2.objects.create(name="task3", user=lucy)
+
+            expected_counts = {"Tom": 2, "Jane": 2, "Lucy": 1}
+
+            results = []
+            async for user in User2.objects.select_related(User2.task2s).iterate():
+                assert len(user.task2s) == expected_counts[user.name]
+                results.append(user)
+
+            assert len(results) == 3
+
+
+@pytest.mark.asyncio
+async def test_model_iterator_with_prefetch_raises_error():
+    async with database:
+        with pytest.raises(QueryDefinitionError):
+            async for user in User.objects.prefetch_related(User.tasks).iterate():
+                pass  # pragma: no cover