diff --git a/packages/eslint-plugin/docs/rules/camelcase.md b/packages/eslint-plugin/docs/rules/camelcase.md
index 84c4d9d13b5..5fa0c8e530f 100644
--- a/packages/eslint-plugin/docs/rules/camelcase.md
+++ b/packages/eslint-plugin/docs/rules/camelcase.md
@@ -30,8 +30,10 @@ variable that will be imported into the local module scope.
 
 This rule has an object option:
 
-- `"properties": "always"` (default) enforces camelcase style for property names
-- `"properties": "never"` does not check property names
+- `"properties": "never"` (default) does not check property names
+- `"properties": "always"` enforces camelcase style for property names
+- `"genericType": "never"` (default) does not check generic identifiers
+- `"genericType": "always"` enforces camelcase style for generic identifiers
 - `"ignoreDestructuring": false` (default) enforces camelcase style for destructured identifiers
 - `"ignoreDestructuring": true` does not check destructured identifiers
 - `allow` (`string[]`) list of properties to accept. Accept regex.
@@ -129,6 +131,100 @@ var obj = {
 };
 ```
 
+### genericType: "always"
+
+Examples of **incorrect** code for this rule with the default `{ "genericType": "always" }` option:
+
+```typescript
+/* eslint @typescript-eslint/camelcase: ["error", { "genericType": "always" }] */
+
+interface Foo<t_foo> {}
+function foo<t_foo>() {}
+class Foo<t_foo> {}
+type Foo<t_foo> = {};
+class Foo {
+  method<t_foo>() {}
+}
+
+interface Foo<t_foo extends object> {}
+function foo<t_foo extends object>() {}
+class Foo<t_foo extends object> {}
+type Foo<t_foo extends object> = {};
+class Foo {
+  method<t_foo extends object>() {}
+}
+
+interface Foo<t_foo = object> {}
+function foo<t_foo = object>() {}
+class Foo<t_foo = object> {}
+type Foo<t_foo = object> = {};
+class Foo {
+  method<t_foo = object>() {}
+}
+```
+
+Examples of **correct** code for this rule with the default `{ "genericType": "always" }` option:
+
+```typescript
+/* eslint @typescript-eslint/camelcase: ["error", { "genericType": "always" }] */
+
+interface Foo<T> {}
+function foo<t>() {}
+class Foo<T> {}
+type Foo<T> = {};
+class Foo {
+  method<T>() {}
+}
+
+interface Foo<T extends object> {}
+function foo<T extends object>() {}
+class Foo<T extends object> {}
+type Foo<T extends object> = {};
+class Foo {
+  method<T extends object>() {}
+}
+
+interface Foo<T = object> {}
+function foo<T = object>() {}
+class Foo<T = object> {}
+type Foo<T = object> = {};
+class Foo {
+  method<T = object>() {}
+}
+```
+
+### genericType: "never"
+
+Examples of **correct** code for this rule with the `{ "genericType": "never" }` option:
+
+```typescript
+/* eslint @typescript-eslint/camelcase: ["error", { "genericType": "never" }] */
+
+interface Foo<t_foo> {}
+function foo<t_foo>() {}
+class Foo<t_foo> {}
+type Foo<t_foo> = {};
+class Foo {
+  method<t_foo>() {}
+}
+
+interface Foo<t_foo extends object> {}
+function foo<t_foo extends object>() {}
+class Foo<t_foo extends object> {}
+type Foo<t_foo extends object> = {};
+class Foo {
+  method<t_foo extends object>() {}
+}
+
+interface Foo<t_foo = object> {}
+function foo<t_foo = object>() {}
+class Foo<t_foo = object> {}
+type Foo<t_foo = object> = {};
+class Foo {
+  method<t_foo = object>() {}
+}
+```
+
 ### ignoreDestructuring: false
 
 Examples of **incorrect** code for this rule with the default `{ "ignoreDestructuring": false }` option:
diff --git a/packages/eslint-plugin/src/rules/camelcase.ts b/packages/eslint-plugin/src/rules/camelcase.ts
index 0928484b629..a2be8a1c695 100644
--- a/packages/eslint-plugin/src/rules/camelcase.ts
+++ b/packages/eslint-plugin/src/rules/camelcase.ts
@@ -8,6 +8,19 @@ import * as util from '../util';
 type Options = util.InferOptionsTypeFromRule<typeof baseRule>;
 type MessageIds = util.InferMessageIdsTypeFromRule<typeof baseRule>;
 
+const schema = util.deepMerge(
+  Array.isArray(baseRule.meta.schema)
+    ? baseRule.meta.schema[0]
+    : baseRule.meta.schema,
+  {
+    properties: {
+      genericType: {
+        enum: ['always', 'never'],
+      },
+    },
+  },
+);
+
 export default util.createRule<Options, MessageIds>({
   name: 'camelcase',
   meta: {
@@ -17,7 +30,7 @@ export default util.createRule<Options, MessageIds>({
       category: 'Stylistic Issues',
       recommended: 'error',
     },
-    schema: baseRule.meta.schema,
+    schema: [schema],
     messages: baseRule.meta.messages,
   },
   defaultOptions: [
@@ -25,6 +38,7 @@ export default util.createRule<Options, MessageIds>({
       allow: ['^UNSAFE_'],
       ignoreDestructuring: false,
       properties: 'never',
+      genericType: 'never',
     },
   ],
   create(context, [options]) {
@@ -36,6 +50,7 @@ export default util.createRule<Options, MessageIds>({
       AST_NODE_TYPES.TSAbstractClassProperty,
     ];
 
+    const genericType = options.genericType;
     const properties = options.properties;
     const allow = (options.allow || []).map(entry => ({
       name: entry,
@@ -117,6 +132,14 @@ export default util.createRule<Options, MessageIds>({
           return;
         }
 
+        if (parent && parent.type === AST_NODE_TYPES.TSTypeParameter) {
+          if (genericType === 'always' && isUnderscored(name)) {
+            report(node);
+          }
+
+          return;
+        }
+
         if (parent && parent.type === AST_NODE_TYPES.OptionalMemberExpression) {
           // Report underscored object names
           if (
diff --git a/packages/eslint-plugin/tests/rules/camelcase.test.ts b/packages/eslint-plugin/tests/rules/camelcase.test.ts
index d2d3287ce66..617cdf3e40f 100644
--- a/packages/eslint-plugin/tests/rules/camelcase.test.ts
+++ b/packages/eslint-plugin/tests/rules/camelcase.test.ts
@@ -79,6 +79,100 @@ ruleTester.run('camelcase', rule, {
       code: 'abstract class Foo { abstract bar: number = 0; }',
       options: [{ properties: 'always' }],
     },
+    {
+      code: 'interface Foo<t_foo> {}',
+      options: [{ genericType: 'never' }],
+    },
+    {
+      code: 'interface Foo<T> {}',
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: 'interface Foo<t> {}',
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: 'function fn<t_foo>() {}',
+      options: [{ genericType: 'never' }],
+    },
+    {
+      code: 'function fn<T>() {}',
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: 'function fn<t>() {}',
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: 'class Foo<t_foo> {}',
+      options: [{ genericType: 'never' }],
+    },
+    {
+      code: 'class Foo<T> {}',
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: 'class Foo<t> {}',
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: `
+class Foo {
+  method<t_foo>() {}
+}
+      `,
+      options: [{ genericType: 'never' }],
+    },
+    {
+      code: `
+class Foo {
+  method<T>() {}
+}
+      `,
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: `
+class Foo {
+  method<t>() {}
+}
+      `,
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: `
+type Foo<T> = {}
+      `,
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: `
+type Foo<t> = {}
+      `,
+      options: [{ genericType: 'always' }],
+    },
+    {
+      code: `
+type Foo<t_object> = {}
+      `,
+      options: [{ genericType: 'never' }],
+    },
+    {
+      code: `
+class Foo {
+  FOO_method() {}
+}
+      `,
+      options: [{ allow: ['^FOO'] }],
+    },
+    {
+      code: `
+class Foo {
+  method() {}
+}
+      `,
+      options: [{}],
+    },
     {
       code: 'const foo = foo?.baz;',
     },
@@ -238,5 +332,117 @@ ruleTester.run('camelcase', rule, {
         },
       ],
     },
+    {
+      code: 'interface Foo<t_foo> {}',
+      options: [{ genericType: 'always' }],
+      errors: [
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_foo',
+          },
+          line: 1,
+          column: 15,
+        },
+      ],
+    },
+    {
+      code: 'function fn<t_foo>() {}',
+      options: [{ genericType: 'always' }],
+      errors: [
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_foo',
+          },
+          line: 1,
+          column: 13,
+        },
+      ],
+    },
+    {
+      code: 'class Foo<t_foo> {}',
+      options: [{ genericType: 'always' }],
+      errors: [
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_foo',
+          },
+          line: 1,
+          column: 11,
+        },
+      ],
+    },
+    {
+      code: `
+class Foo {
+  method<t_foo>() {}
+}
+      `,
+      options: [{ genericType: 'always' }],
+      errors: [
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_foo',
+          },
+          line: 3,
+          column: 10,
+        },
+      ],
+    },
+    {
+      code: `
+class Foo {
+  method<t_foo extends t_bar>() {}
+}
+      `,
+      options: [{ genericType: 'always' }],
+      errors: [
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_foo',
+          },
+          line: 3,
+          column: 10,
+        },
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_bar',
+          },
+          line: 3,
+          column: 24,
+        },
+      ],
+    },
+    {
+      code: `
+class Foo {
+  method<t_foo = t_bar>() {}
+}
+      `,
+      options: [{ genericType: 'always' }],
+      errors: [
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_foo',
+          },
+          line: 3,
+          column: 10,
+        },
+        {
+          messageId: 'notCamelCase',
+          data: {
+            name: 't_bar',
+          },
+          line: 3,
+          column: 18,
+        },
+      ],
+    },
   ],
 });
diff --git a/packages/eslint-plugin/typings/eslint-rules.d.ts b/packages/eslint-plugin/typings/eslint-rules.d.ts
index 2ec44b6dbc2..62f45419b18 100644
--- a/packages/eslint-plugin/typings/eslint-rules.d.ts
+++ b/packages/eslint-plugin/typings/eslint-rules.d.ts
@@ -35,6 +35,7 @@ declare module 'eslint/lib/rules/camelcase' {
         allow?: string[];
         ignoreDestructuring?: boolean;
         properties?: 'always' | 'never';
+        genericType?: 'never' | 'always';
       },
     ],
     {