diff --git a/docs/model/type/asset.md b/docs/model/type/asset.md
index 690c3f0cc..bbb75ddc4 100644
--- a/docs/model/type/asset.md
+++ b/docs/model/type/asset.md
@@ -260,6 +260,11 @@ Plant Assets have the following additional relationships:
 - Plant type (references a Term in the "Plant type" vocabulary)
 - Season (references a Term in the "Season" vocabulary)
 
+#### Sensor Assets
+
+Sensor Assets have an additional "Data streams" relationship, which is used to
+reference [Data Streams](/model/type/data-stream) associated with the sensor.
+
 #### Structure Assets
 
 Structure Assets have the following additional attributes:
diff --git a/docs/model/type/data_stream.md b/docs/model/type/data_stream.md
new file mode 100644
index 000000000..eacccf4f0
--- /dev/null
+++ b/docs/model/type/data_stream.md
@@ -0,0 +1,101 @@
+# Data Streams
+
+Data Streams are records that represent sets of data streamed from sensors or
+other real-world devices.
+
+## Type
+
+Each Data Stream must have a type. All Asset types have a common set of
+attributes and relationships. Specific Data Stream types may also add
+additional attributes and relationships (collectively referred to as "fields").
+Data Stream types are defined by modules, and are only available if their
+module is enabled. The modules included with farmOS define the following Data
+Stream types:
+
+- Basic
+- Listener (Legacy)
+
+## ID
+
+Each Data Stream will be assigned two unique IDs in the database: a universally
+unique identifier (UUID), and an internal numeric ID.
+
+The UUID will be unique **across** farmOS databases. The internal ID will only
+be unique to a **single** farmOS database. Therefore, the farmOS API uses UUIDs
+to ensure that IDs pulled from multiple farmOS databases do not conflict.
+Internally, farmOS modules use the internal IDs to perform CRUD operations.
+
+## Attributes
+
+Data Streams have a number of attributes that serve to describe their meta
+information. All Data Stream have the same standard set of attributes. Modules
+can add additional attributes.
+
+### Standard attributes
+
+Attributes that are common to all Data Stream types include:
+
+- Name
+- Private key
+- Public
+
+#### Name
+
+Data Streams must have a name that describes them. The name is used in lists of
+Data Streams to easily identify them at quick glance.
+
+#### Private key
+
+A Data Stream's private key is the password used to post data to (and get data
+from) its API endpoint.
+
+#### Public
+
+A Data Stream may be marked as "public" to allow read-access from the API
+without a private key. This is useful for loading data into public
+third-party apps or scripts, for graphing or other purposes. Data Streams
+are not public by default.
+
+## Relationships
+
+Data Streams can be related to other records in farmOS These relationships are
+stored as reference fields on Data Stream records.
+
+All Data Streams have the same standard set of relationships. Modules can add
+additional relationships.
+
+Relationships that are common to all Data Streams types include:
+
+- Assets
+
+#### Assets
+
+Data Streams can reference one or more Assets to indicate that the data they
+collect is directly relevant to them.
+
+For example, if a soil moisture sensor that is installed in a field can be
+represented with a Sensor Asset (for the soil moisture sensor device itself),
+with a Data Stream (soil moisture data readings), that reference a Land Asset
+(the field it is installed in). This makes it possible for a single device to
+be moved/reused for monitoring multiple Assets, by moving the Sensor Asset
+and creating new Data Streams.
+
+## Type-specific fields
+
+In addition to the fields that are common to all Data Stream types described
+above, some types add additional type-specific fields. These include:
+
+#### Basic Data Streams
+
+Basic Data Streams do not define any type-specific fields.
+
+#### Listener (Legacy) Data Streams
+
+Listener (Legacy) Data Streams have an additional "public key" attribute,
+which is used in the Data Stream's API endpoint for posting/getting data. This
+was used in farmOS 1.x to provide a unique ID for the sensor, separate from the
+Sensor Asset ID that housed the data. This is no longer needed in farmOS 2.x,
+because each Data Stream has its own UUID, which is used in the API endpoints
+instead. The public key is retained for Legacy (Listener) Data Streams to
+ensure that existing sensors can continue to push data without needing to be
+reconfigured.
diff --git a/mkdocs.yml b/mkdocs.yml
index 7c0d8b77a..beb295130 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -6,6 +6,7 @@ nav:
       - Assets: model/type/asset.md
       - Logs: model/type/log.md
       - Quantities: model/type/quantity.md
+      - Data streams: model/type/data_stream.md
       - Terms: model/type/term.md
       - Plans: model/type/plan.md
       - Users: model/type/user.md