diff --git a/homeassistant/components/axis/config_flow.py b/homeassistant/components/axis/config_flow.py
index 0c175de20c7..fc2051e4925 100644
--- a/homeassistant/components/axis/config_flow.py
+++ b/homeassistant/components/axis/config_flow.py
@@ -146,7 +146,7 @@ class AxisFlowHandler(config_entries.ConfigFlow):
         entry.data[CONF_DEVICE][CONF_HOST] = host
         self.hass.config_entries.async_update_entry(entry)
 
-    async def async_step_discovery(self, discovery_info):
+    async def async_step_zeroconf(self, discovery_info):
         """Prepare configuration for a discovered Axis device.
 
         This flow is triggered by the discovery component.
diff --git a/homeassistant/components/axis/manifest.json b/homeassistant/components/axis/manifest.json
index 507f63c12b5..27c108b334c 100644
--- a/homeassistant/components/axis/manifest.json
+++ b/homeassistant/components/axis/manifest.json
@@ -5,5 +5,6 @@
   "documentation": "https://www.home-assistant.io/components/axis",
   "requirements": ["axis==23"],
   "dependencies": [],
+  "zeroconf": ["_axis-video._tcp.local."],
   "codeowners": ["@kane610"]
 }
diff --git a/homeassistant/components/discovery/__init__.py b/homeassistant/components/discovery/__init__.py
index 99879b60e66..246a66eb9a1 100644
--- a/homeassistant/components/discovery/__init__.py
+++ b/homeassistant/components/discovery/__init__.py
@@ -24,7 +24,6 @@ DOMAIN = 'discovery'
 
 SCAN_INTERVAL = timedelta(seconds=300)
 SERVICE_APPLE_TV = 'apple_tv'
-SERVICE_AXIS = 'axis'
 SERVICE_DAIKIN = 'daikin'
 SERVICE_DECONZ = 'deconz'
 SERVICE_DLNA_DMR = 'dlna_dmr'
@@ -51,7 +50,6 @@ SERVICE_WINK = 'wink'
 SERVICE_XIAOMI_GW = 'xiaomi_gw'
 
 CONFIG_ENTRY_HANDLERS = {
-    SERVICE_AXIS: 'axis',
     SERVICE_DAIKIN: 'daikin',
     SERVICE_DECONZ: 'deconz',
     'esphome': 'esphome',
diff --git a/homeassistant/components/zeroconf/__init__.py b/homeassistant/components/zeroconf/__init__.py
index e745cb53f6b..161321d1e88 100644
--- a/homeassistant/components/zeroconf/__init__.py
+++ b/homeassistant/components/zeroconf/__init__.py
@@ -1,14 +1,25 @@
 """Support for exposing Home Assistant via Zeroconf."""
 import logging
 
+import ipaddress
 import voluptuous as vol
 
+from aiozeroconf import (
+    ServiceBrowser, ServiceInfo, ServiceStateChange, Zeroconf)
+
 from homeassistant.const import (EVENT_HOMEASSISTANT_STOP, __version__)
+from homeassistant.generated import zeroconf as zeroconf_manifest
 
 _LOGGER = logging.getLogger(__name__)
 
 DOMAIN = 'zeroconf'
 
+ATTR_HOST = 'host'
+ATTR_PORT = 'port'
+ATTR_HOSTNAME = 'hostname'
+ATTR_TYPE = 'type'
+ATTR_NAME = 'name'
+ATTR_PROPERTIES = 'properties'
 
 ZEROCONF_TYPE = '_home-assistant._tcp.local.'
 
@@ -19,8 +30,6 @@ CONFIG_SCHEMA = vol.Schema({
 
 async def async_setup(hass, config):
     """Set up Zeroconf and make Home Assistant discoverable."""
-    from aiozeroconf import Zeroconf, ServiceInfo
-
     zeroconf_name = '{}.{}'.format(hass.config.location_name, ZEROCONF_TYPE)
 
     params = {
@@ -37,7 +46,28 @@ async def async_setup(hass, config):
 
     await zeroconf.register_service(info)
 
-    async def stop_zeroconf(event):
+    async def new_service(service_type, name):
+        """Signal new service discovered."""
+        service_info = await zeroconf.get_service_info(service_type, name)
+        info = info_from_service(service_info)
+        _LOGGER.debug("Discovered new device %s %s", name, info)
+
+        for domain in zeroconf_manifest.SERVICE_TYPES[service_type]:
+            hass.async_create_task(
+                hass.config_entries.flow.async_init(
+                    domain, context={'source': DOMAIN}, data=info
+                )
+            )
+
+    def service_update(_, service_type, name, state_change):
+        """Service state changed."""
+        if state_change is ServiceStateChange.Added:
+            hass.async_create_task(new_service(service_type, name))
+
+    for service in zeroconf_manifest.SERVICE_TYPES:
+        ServiceBrowser(zeroconf, service, handlers=[service_update])
+
+    async def stop_zeroconf(_):
         """Stop Zeroconf."""
         await zeroconf.unregister_service(info)
         await zeroconf.close()
@@ -45,3 +75,29 @@ async def async_setup(hass, config):
     hass.bus.async_listen_once(EVENT_HOMEASSISTANT_STOP, stop_zeroconf)
 
     return True
+
+
+def info_from_service(service):
+    """Return prepared info from mDNS entries."""
+    properties = {}
+
+    for key, value in service.properties.items():
+        try:
+            if isinstance(value, bytes):
+                value = value.decode('utf-8')
+            properties[key.decode('utf-8')] = value
+        except UnicodeDecodeError:
+            _LOGGER.warning("Unicode decode error on %s: %s", key, value)
+
+    address = service.address or service.address6
+
+    info = {
+        ATTR_HOST: str(ipaddress.ip_address(address)),
+        ATTR_PORT: service.port,
+        ATTR_HOSTNAME: service.server,
+        ATTR_TYPE: service.type,
+        ATTR_NAME: service.name,
+        ATTR_PROPERTIES: properties,
+    }
+
+    return info
diff --git a/homeassistant/generated/zeroconf.py b/homeassistant/generated/zeroconf.py
new file mode 100644
index 00000000000..08c520b3816
--- /dev/null
+++ b/homeassistant/generated/zeroconf.py
@@ -0,0 +1,11 @@
+"""Automatically generated by hassfest.
+
+To update, run python3 -m hassfest
+"""
+
+
+SERVICE_TYPES = {
+    "_axis-video._tcp.local.": [
+        "axis"
+    ]
+}
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index 826544c4e8d..f03364c7b0a 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -57,6 +57,9 @@ aioswitcher==2019.3.21
 # homeassistant.components.unifi
 aiounifi==4
 
+# homeassistant.components.zeroconf
+aiozeroconf==0.1.8
+
 # homeassistant.components.ambiclimate
 ambiclimate==0.1.1
 
diff --git a/script/gen_requirements_all.py b/script/gen_requirements_all.py
index 057f5c9fd24..108d0bcab07 100755
--- a/script/gen_requirements_all.py
+++ b/script/gen_requirements_all.py
@@ -50,6 +50,7 @@ TEST_REQUIREMENTS = (
     'aiohue',
     'aiounifi',
     'aioswitcher',
+    'aiozeroconf',
     'apns2',
     'av',
     'axis',
diff --git a/script/hassfest/__main__.py b/script/hassfest/__main__.py
index 9e7797201ea..6a6b19aada7 100644
--- a/script/hassfest/__main__.py
+++ b/script/hassfest/__main__.py
@@ -3,7 +3,8 @@ import pathlib
 import sys
 
 from .model import Integration, Config
-from . import dependencies, manifest, codeowners, services, config_flow
+from . import (
+    dependencies, manifest, codeowners, services, config_flow, zeroconf)
 
 PLUGINS = [
     manifest,
@@ -11,6 +12,7 @@ PLUGINS = [
     codeowners,
     services,
     config_flow,
+    zeroconf
 ]
 
 
diff --git a/script/hassfest/manifest.py b/script/hassfest/manifest.py
index 789b5fc0b41..cfb2fdc006a 100644
--- a/script/hassfest/manifest.py
+++ b/script/hassfest/manifest.py
@@ -11,6 +11,7 @@ MANIFEST_SCHEMA = vol.Schema({
     vol.Required('domain'): str,
     vol.Required('name'): str,
     vol.Optional('config_flow'): bool,
+    vol.Optional('zeroconf'): [str],
     vol.Required('documentation'): str,
     vol.Required('requirements'): [str],
     vol.Required('dependencies'): [str],
diff --git a/script/hassfest/zeroconf.py b/script/hassfest/zeroconf.py
new file mode 100644
index 00000000000..468d2741dbd
--- /dev/null
+++ b/script/hassfest/zeroconf.py
@@ -0,0 +1,63 @@
+"""Generate zeroconf file."""
+import json
+from typing import Dict
+
+from .model import Integration, Config
+
+BASE = """
+\"\"\"Automatically generated by hassfest.
+
+To update, run python3 -m hassfest
+\"\"\"
+
+
+SERVICE_TYPES = {}
+""".strip()
+
+
+def generate_and_validate(integrations: Dict[str, Integration]):
+    """Validate and generate zeroconf data."""
+    service_type_dict = {}
+
+    for domain in sorted(integrations):
+        integration = integrations[domain]
+
+        if not integration.manifest:
+            continue
+
+        service_types = integration.manifest.get('zeroconf')
+
+        if not service_types:
+            continue
+
+        for service_type in service_types:
+
+            if service_type not in service_type_dict:
+                service_type_dict[service_type] = []
+
+            service_type_dict[service_type].append(domain)
+
+    return BASE.format(json.dumps(service_type_dict, indent=4))
+
+
+def validate(integrations: Dict[str, Integration], config: Config):
+    """Validate zeroconf file."""
+    zeroconf_path = config.root / 'homeassistant/generated/zeroconf.py'
+    config.cache['zeroconf'] = content = generate_and_validate(integrations)
+
+    with open(str(zeroconf_path), 'r') as fp:
+        if fp.read().strip() != content:
+            config.add_error(
+                "zeroconf",
+                "File zeroconf.py is not up to date. "
+                "Run python3 -m script.hassfest",
+                fixable=True
+            )
+        return
+
+
+def generate(integrations: Dict[str, Integration], config: Config):
+    """Generate zeroconf file."""
+    zeroconf_path = config.root / 'homeassistant/generated/zeroconf.py'
+    with open(str(zeroconf_path), 'w') as fp:
+        fp.write(config.cache['zeroconf'] + '\n')
diff --git a/tests/components/axis/test_config_flow.py b/tests/components/axis/test_config_flow.py
index 1a83e9be8b5..ebd2062ee0f 100644
--- a/tests/components/axis/test_config_flow.py
+++ b/tests/components/axis/test_config_flow.py
@@ -161,8 +161,8 @@ async def test_flow_create_entry_more_entries(hass):
     assert result['data'][config_flow.CONF_NAME] == 'model 2'
 
 
-async def test_discovery_flow(hass):
-    """Test that discovery for new devices work."""
+async def test_zeroconf_flow(hass):
+    """Test that zeroconf discovery for new devices work."""
     with patch.object(axis, 'get_device', return_value=mock_coro(Mock())):
         result = await hass.config_entries.flow.async_init(
             config_flow.DOMAIN,
@@ -171,15 +171,15 @@ async def test_discovery_flow(hass):
                 config_flow.CONF_PORT: 80,
                 'properties': {'macaddress': '1234'}
             },
-            context={'source': 'discovery'}
+            context={'source': 'zeroconf'}
         )
 
     assert result['type'] == 'form'
     assert result['step_id'] == 'user'
 
 
-async def test_discovery_flow_known_device(hass):
-    """Test that discovery for known devices work.
+async def test_zeroconf_flow_known_device(hass):
+    """Test that zeroconf discovery for known devices work.
 
     This is legacy support from devices registered with configurator.
     """
@@ -210,14 +210,14 @@ async def test_discovery_flow_known_device(hass):
                 'hostname': 'name',
                 'properties': {'macaddress': '1234ABCD'}
             },
-            context={'source': 'discovery'}
+            context={'source': 'zeroconf'}
         )
 
     assert result['type'] == 'create_entry'
 
 
-async def test_discovery_flow_already_configured(hass):
-    """Test that discovery doesn't setup already configured devices."""
+async def test_zeroconf_flow_already_configured(hass):
+    """Test that zeroconf doesn't setup already configured devices."""
     entry = MockConfigEntry(
         domain=axis.DOMAIN,
         data={axis.CONF_DEVICE: {axis.config_flow.CONF_HOST: '1.2.3.4'},
@@ -235,27 +235,27 @@ async def test_discovery_flow_already_configured(hass):
             'hostname': 'name',
             'properties': {'macaddress': '1234ABCD'}
         },
-        context={'source': 'discovery'}
+        context={'source': 'zeroconf'}
     )
 
     assert result['type'] == 'abort'
     assert result['reason'] == 'already_configured'
 
 
-async def test_discovery_flow_ignore_link_local_address(hass):
-    """Test that discovery doesn't setup devices with link local addresses."""
+async def test_zeroconf_flow_ignore_link_local_address(hass):
+    """Test that zeroconf doesn't setup devices with link local addresses."""
     result = await hass.config_entries.flow.async_init(
         config_flow.DOMAIN,
         data={config_flow.CONF_HOST: '169.254.3.4'},
-        context={'source': 'discovery'}
+        context={'source': 'zeroconf'}
     )
 
     assert result['type'] == 'abort'
     assert result['reason'] == 'link_local_address'
 
 
-async def test_discovery_flow_bad_config_file(hass):
-    """Test that discovery with bad config files abort."""
+async def test_zeroconf_flow_bad_config_file(hass):
+    """Test that zeroconf discovery with bad config files abort."""
     with patch('homeassistant.components.axis.config_flow.load_json',
                return_value={'1234ABCD': {
                    config_flow.CONF_HOST: '2.3.4.5',
@@ -270,7 +270,7 @@ async def test_discovery_flow_bad_config_file(hass):
                 config_flow.CONF_HOST: '1.2.3.4',
                 'properties': {'macaddress': '1234ABCD'}
             },
-            context={'source': 'discovery'}
+            context={'source': 'zeroconf'}
         )
 
     assert result['type'] == 'abort'
diff --git a/tests/components/zeroconf/__init__.py b/tests/components/zeroconf/__init__.py
new file mode 100644
index 00000000000..d702ef482d6
--- /dev/null
+++ b/tests/components/zeroconf/__init__.py
@@ -0,0 +1 @@
+"""Tests for the Zeroconf component."""
diff --git a/tests/components/zeroconf/test_init.py b/tests/components/zeroconf/test_init.py
new file mode 100644
index 00000000000..b3257f57714
--- /dev/null
+++ b/tests/components/zeroconf/test_init.py
@@ -0,0 +1,40 @@
+"""Test Zeroconf component setup process."""
+from unittest.mock import patch
+
+from aiozeroconf import ServiceInfo, ServiceStateChange
+
+from homeassistant.setup import async_setup_component
+from homeassistant.components import zeroconf
+
+
+def service_update_mock(zeroconf, service, handlers):
+    """Call service update handler."""
+    handlers[0](
+        None, service, '{}.{}'.format('name', service),
+        ServiceStateChange.Added)
+
+
+async def get_service_info_mock(service_type, name):
+    """Return service info for get_service_info."""
+    return ServiceInfo(
+        service_type, name, address=b'\n\x00\x00\x14', port=80, weight=0,
+        priority=0, server='name.local.',
+        properties={b'macaddress': b'ABCDEF012345'})
+
+
+async def test_setup(hass):
+    """Test configured options for a device are loaded via config entry."""
+    with patch.object(hass.config_entries, 'flow') as mock_config_flow, \
+            patch.object(zeroconf, 'ServiceBrowser') as MockServiceBrowser, \
+            patch.object(zeroconf.Zeroconf, 'get_service_info') as \
+            mock_get_service_info:
+
+        MockServiceBrowser.side_effect = service_update_mock
+        mock_get_service_info.side_effect = get_service_info_mock
+
+        assert await async_setup_component(
+            hass, zeroconf.DOMAIN, {zeroconf.DOMAIN: {}})
+        await hass.async_block_till_done()
+
+    assert len(MockServiceBrowser.mock_calls) == 1
+    assert len(mock_config_flow.mock_calls) == 1