diff --git a/pkg/queue/certificate/watcher.go b/pkg/queue/certificate/watcher.go
new file mode 100644
index 000000000000..cbd27ea9d863
--- /dev/null
+++ b/pkg/queue/certificate/watcher.go
@@ -0,0 +1,135 @@
+/*
+Copyright 2023 The Knative Authors
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+package certificate
+
+import (
+	"crypto/sha256"
+	"crypto/tls"
+	"fmt"
+	"os"
+	"path"
+	"sync"
+	"time"
+
+	"go.uber.org/zap"
+)
+
+// CertWatcher watches certificate and key files and reloads them if they change on disk.
+type CertWatcher struct {
+	certPath     string
+	certChecksum [sha256.Size]byte
+	keyPath      string
+	keyChecksum  [sha256.Size]byte
+
+	certificate *tls.Certificate
+
+	logger *zap.SugaredLogger
+	ticker *time.Ticker
+	stop   chan struct{}
+	mux    sync.RWMutex
+}
+
+// NewCertWatcher creates a CertWatcher and watches
+// the certificate and key files. It reloads the contents on file change.
+// Make sure to stop the CertWatcher using Stop() upon destroy.
+func NewCertWatcher(certPath, keyPath string, reloadInterval time.Duration, logger *zap.SugaredLogger) (*CertWatcher, error) {
+	cw := &CertWatcher{
+		certPath: certPath,
+		keyPath:  keyPath,
+		logger:   logger,
+		ticker:   time.NewTicker(reloadInterval),
+		stop:     make(chan struct{}),
+		mux:      sync.RWMutex{},
+	}
+
+	certDir := path.Dir(cw.certPath)
+	keyDir := path.Dir(cw.keyPath)
+
+	cw.logger.Info("Starting to watch the following directories for changes",
+		zap.String("certDir", certDir), zap.String("keyDir", keyDir))
+
+	// initial load
+	if err := cw.loadCert(); err != nil {
+		return nil, err
+	}
+
+	go cw.watch()
+
+	return cw, nil
+}
+
+// Stop shuts down the CertWatcher. Use this with `defer`.
+func (cw *CertWatcher) Stop() {
+	cw.logger.Info("Stopping file watcher")
+	close(cw.stop)
+	cw.ticker.Stop()
+}
+
+// GetCertificate returns the server certificate for a client-hello request.
+func (cw *CertWatcher) GetCertificate(_ *tls.ClientHelloInfo) (*tls.Certificate, error) {
+	cw.mux.RLock()
+	defer cw.mux.RUnlock()
+	return cw.certificate, nil
+}
+
+func (cw *CertWatcher) watch() {
+	for {
+		select {
+		case <-cw.stop:
+			return
+
+		case <-cw.ticker.C:
+			// On error, we do not want to stop trying
+			if err := cw.loadCert(); err != nil {
+				cw.logger.Error(err)
+			}
+		}
+	}
+}
+
+func (cw *CertWatcher) loadCert() error {
+	var err error
+	certFile, err := os.ReadFile(cw.certPath)
+	if err != nil {
+		return fmt.Errorf("failed to load certificate file in %s: %w", cw.certPath, err)
+	}
+	keyFile, err := os.ReadFile(cw.keyPath)
+	if err != nil {
+		return fmt.Errorf("failed to load key file in %s: %w", cw.keyPath, err)
+	}
+
+	certChecksum := sha256.Sum256(certFile)
+	keyChecksum := sha256.Sum256(keyFile)
+
+	if certChecksum != cw.certChecksum || keyChecksum != cw.keyChecksum {
+		keyPair, err := tls.LoadX509KeyPair(cw.certPath, cw.keyPath)
+		if err != nil {
+			return fmt.Errorf("failed to parse certificate: %w", err)
+		}
+
+		cw.mux.Lock()
+		defer cw.mux.Unlock()
+
+		cw.certificate = &keyPair
+		cw.certChecksum = certChecksum
+		cw.keyChecksum = keyChecksum
+
+		cw.logger.Info("Certificate and/or key have changed on disk and were reloaded.")
+	}
+
+	return nil
+}
diff --git a/pkg/queue/certificate/watcher_test.go b/pkg/queue/certificate/watcher_test.go
new file mode 100644
index 000000000000..36af949018d0
--- /dev/null
+++ b/pkg/queue/certificate/watcher_test.go
@@ -0,0 +1,123 @@
+/*
+Copyright 2023 The Knative Authors
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+package certificate
+
+import (
+	"crypto/tls"
+	"crypto/x509"
+	"fmt"
+	"os"
+	"testing"
+	"time"
+
+	"k8s.io/apimachinery/pkg/util/wait"
+	"knative.dev/networking/pkg/certificates"
+	ktesting "knative.dev/pkg/logging/testing"
+)
+
+const (
+	initialSAN = "initial.knative"
+	updatedSAN = "updated.knative"
+)
+
+func TestCertificateRotation(t *testing.T) {
+	// Create initial certificate and key on disk
+	dir := t.TempDir()
+
+	err := createAndSaveCertificate(initialSAN, dir)
+	if err != nil {
+		t.Fatal("failed to create and save initial certificate", err)
+	}
+
+	// Watch the certificate files
+	cw, err := NewCertWatcher(dir+"/"+certificates.CertName, dir+"/"+certificates.PrivateKeyName, 1*time.Second, ktesting.TestLogger(t))
+	if err != nil {
+		t.Fatal("failed to create CertWatcher", err)
+	}
+
+	// CertWatcher should return the expected certificate
+	c, err := cw.GetCertificate(nil)
+	if err != nil {
+		t.Fatal("failed to call GetCertificate on CertWatcher", err)
+	}
+	san, err := getSAN(c)
+	if err != nil {
+		t.Fatal("failed to parse SAN of certificate", err)
+	}
+	if san != initialSAN {
+		t.Errorf("CertWatcher did not return the expected certificate. want: %s, got: %s", initialSAN, san)
+	}
+
+	// Update the certificate and key on disk
+	err = createAndSaveCertificate(updatedSAN, dir)
+	if err != nil {
+		t.Fatal("failed to update and save initial certificate", err)
+	}
+
+	// CertWatcher should return the new certificate
+	// Give CertWatcher some time to update the certificate
+	if err := wait.Poll(1*time.Second, 30*time.Second, func() (bool, error) {
+		c, err = cw.GetCertificate(nil)
+		if err != nil {
+			return false, err
+		}
+
+		san, err = getSAN(c)
+		if err != nil {
+			return false, err
+		}
+
+		if san != updatedSAN {
+			return false, fmt.Errorf("CertWatcher did not return the expected certificate. want: %s, got: %s", updatedSAN, san)
+		}
+
+		return true, nil
+	}); err != nil {
+		t.Fatal(err)
+	}
+}
+
+func createAndSaveCertificate(san, dir string) error {
+	ca, err := certificates.CreateCACerts(1 * time.Hour)
+	if err != nil {
+		return err
+	}
+
+	caCert, caKey, err := ca.Parse()
+	if err != nil {
+		return err
+	}
+
+	cert, err := certificates.CreateCert(caKey, caCert, 1*time.Hour, san)
+	if err != nil {
+		return err
+	}
+
+	if err := os.WriteFile(dir+"/"+certificates.CertName, cert.CertBytes(), 0644); err != nil {
+		return err
+	}
+
+	return os.WriteFile(dir+"/"+certificates.PrivateKeyName, cert.PrivateKeyBytes(), 0644)
+}
+
+func getSAN(c *tls.Certificate) (string, error) {
+	parsed, err := x509.ParseCertificate(c.Certificate[0])
+	if err != nil {
+		return "", err
+	}
+	return parsed.DNSNames[0], nil
+}
diff --git a/pkg/queue/sharedmain/main.go b/pkg/queue/sharedmain/main.go
index 0400d416457a..6a38b12d8488 100644
--- a/pkg/queue/sharedmain/main.go
+++ b/pkg/queue/sharedmain/main.go
@@ -18,6 +18,7 @@ package sharedmain
 
 import (
 	"context"
+	"crypto/tls"
 	"errors"
 	"fmt"
 	"net/http"
@@ -29,6 +30,7 @@ import (
 	"go.opencensus.io/plugin/ochttp"
 	"go.uber.org/automaxprocs/maxprocs"
 	"go.uber.org/zap"
+	"knative.dev/serving/pkg/queue/certificate"
 
 	"k8s.io/apimachinery/pkg/types"
 
@@ -245,16 +247,22 @@ func Main(opts ...Option) error {
 		httpServers["profile"] = profiling.NewServer(profiling.NewHandler(logger, true))
 	}
 
-	tlsServers := map[string]*http.Server{
-		"main":  mainServer(":"+env.QueueServingTLSPort, mainHandler),
-		"admin": adminServer(":"+strconv.Itoa(networking.QueueAdminPort), adminHandler),
-	}
+	tlsServers := make(map[string]*http.Server)
+	var certWatcher *certificate.CertWatcher
+	var err error
 
 	if tlsEnabled {
+		tlsServers["main"] = mainServer(":"+env.QueueServingTLSPort, mainHandler)
+		tlsServers["admin"] = adminServer(":"+strconv.Itoa(networking.QueueAdminPort), adminHandler)
+
+		certWatcher, err = certificate.NewCertWatcher(certPath, keyPath, 1*time.Minute, logger)
+		if err != nil {
+			logger.Fatal("failed to create certWatcher", zap.Error(err))
+		}
+		defer certWatcher.Stop()
+
 		// Drop admin http server since the admin TLS server is listening on the same port
 		delete(httpServers, "admin")
-	} else {
-		tlsServers = map[string]*http.Server{}
 	}
 
 	logger.Info("Starting queue-proxy")
@@ -271,9 +279,13 @@ func Main(opts ...Option) error {
 	}
 	for name, server := range tlsServers {
 		go func(name string, s *http.Server) {
-			// Don't forward ErrServerClosed as that indicates we're already shutting down.
 			logger.Info("Starting tls server ", name, s.Addr)
-			if err := s.ListenAndServeTLS(certPath, keyPath); err != nil && !errors.Is(err, http.ErrServerClosed) {
+			s.TLSConfig = &tls.Config{
+				GetCertificate: certWatcher.GetCertificate,
+				MinVersion:     tls.VersionTLS13,
+			}
+			// Don't forward ErrServerClosed as that indicates we're already shutting down.
+			if err := s.ListenAndServeTLS("", ""); err != nil && !errors.Is(err, http.ErrServerClosed) {
 				errCh <- fmt.Errorf("%s server failed to serve: %w", name, err)
 			}
 		}(name, server)
@@ -303,6 +315,7 @@ func Main(opts ...Option) error {
 				logger.Errorw("Failed to shutdown server", zap.String("server", name), zap.Error(err))
 			}
 		}
+
 		logger.Info("Shutdown complete, exiting...")
 	}
 	return nil