diff --git a/tests/v1/test_serial_utils.py b/tests/v1/test_serial_utils.py
index a5dc1773d..4ed8724e6 100644
--- a/tests/v1/test_serial_utils.py
+++ b/tests/v1/test_serial_utils.py
@@ -278,3 +278,148 @@ def test_custom_class_serialization_disallowed_without_pickle():
     with pytest.raises(TypeError):
         # Attempt to encode the custom class
         encoder.encode(obj)
+
+
+@dataclass
+class RequestWithTensor:
+    """Mock request with non-multimodal tensor field like EngineCoreRequest."""
+
+    prompt_embeds: torch.Tensor | None
+    data: str
+
+
+def test_non_multimodal_tensor_with_ipc():
+    """Test that non-multimodal tensor fields work correctly with IPC enabled.
+
+    This reproduces the bug where fields like prompt_embeds: torch.Tensor | None
+    would fail to decode when IPC is enabled because _decode_tensor expected a
+    raw tensor tuple but received a msgpack-decoded TensorIpcHandle list.
+    """
+    import torch.multiprocessing as torch_mp
+
+    from vllm.v1.engine.tensor_ipc import TensorIpcReceiver, TensorIpcSender
+
+    # Create tensor queues for IPC
+    tensor_queues = [torch_mp.Queue()]
+
+    # Create encoder with IPC sender
+    sender = TensorIpcSender(tensor_queues[0])
+    encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+    # Create decoder with IPC receiver
+    receiver = TensorIpcReceiver(tensor_queues[0])
+    decoder = MsgpackDecoder(RequestWithTensor, oob_tensor_provider=receiver)
+
+    # Create a request with a non-multimodal tensor
+    original_tensor = torch.randn(5, 10, dtype=torch.float32)
+    request = RequestWithTensor(prompt_embeds=original_tensor, data="test_data")
+
+    # Encode the request - this should send the tensor via IPC
+    encoded = encoder.encode(request)
+
+    # Verify encoding succeeded
+    assert len(encoded) > 0
+
+    # Decode the request - this should retrieve the tensor from IPC queue
+    # Previously this would fail because the decoder tried to unpack the
+    # handle list as raw tensor bytes metadata.
+    decoded = decoder.decode(encoded)
+
+    # Verify the decoded request matches the original
+    assert isinstance(decoded, RequestWithTensor)
+    assert decoded.data == "test_data"
+    assert decoded.prompt_embeds is not None
+    assert torch.allclose(decoded.prompt_embeds, original_tensor), (
+        "Decoded tensor does not match the original tensor."
+    )
+
+
+def test_non_multimodal_tensor_with_ipc_none_value():
+    """Test that None values for tensor fields work correctly with IPC enabled."""
+    import torch.multiprocessing as torch_mp
+
+    from vllm.v1.engine.tensor_ipc import TensorIpcReceiver, TensorIpcSender
+
+    # Create tensor queues for IPC
+    tensor_queues = [torch_mp.Queue()]
+
+    # Create encoder with IPC sender
+    sender = TensorIpcSender(tensor_queues[0])
+    encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+    # Create decoder with IPC receiver
+    receiver = TensorIpcReceiver(tensor_queues[0])
+    decoder = MsgpackDecoder(RequestWithTensor, oob_tensor_provider=receiver)
+
+    # Create a request with None for the tensor field
+    request = RequestWithTensor(prompt_embeds=None, data="test_data_with_none")
+
+    # Encode and decode the request
+    encoded = encoder.encode(request)
+    decoded = decoder.decode(encoded)
+
+    # Verify the decoded request matches the original
+    assert isinstance(decoded, RequestWithTensor)
+    assert decoded.data == "test_data_with_none"
+    assert decoded.prompt_embeds is None
+
+
+def test_multiple_senders_single_receiver_ipc():
+    """Test N senders sharing a queue with a single receiver via msgpack.
+
+    Simulates the real vLLM topology where multiple API server frontends
+    each have their own MsgpackEncoder + TensorIpcSender, all putting
+    tensors onto the same torch.mp queue, and a single engine core
+    decodes them with one MsgpackDecoder + TensorIpcReceiver.
+    """
+    import torch.multiprocessing as torch_mp
+
+    from vllm.v1.engine.tensor_ipc import TensorIpcReceiver, TensorIpcSender
+
+    num_senders = 3
+    num_messages_per_sender = 2
+    tensor_queue = torch_mp.Queue()
+
+    # Create N independent senders (each gets its own uuid-based sender_id)
+    senders = []
+    encoders = []
+    for _ in range(num_senders):
+        s = TensorIpcSender(tensor_queue)
+        senders.append(s)
+        encoders.append(MsgpackEncoder(oob_tensor_consumer=s))
+
+    # Single receiver
+    receiver = TensorIpcReceiver(tensor_queue)
+    decoder = MsgpackDecoder(RequestWithTensor, oob_tensor_provider=receiver)
+
+    # Encode messages from all senders, interleaving the order
+    # so that tensors from different senders land on the queue interleaved.
+    encoded_payloads: list[tuple[int, int, torch.Tensor, list]] = []
+    for msg_idx in range(num_messages_per_sender):
+        for sender_idx in range(num_senders):
+            tensor = torch.full(
+                (sender_idx + 1, msg_idx + 2),
+                float(sender_idx * 100 + msg_idx),
+                dtype=torch.float32,
+            )
+            req = RequestWithTensor(
+                prompt_embeds=tensor,
+                data=f"s{sender_idx}_m{msg_idx}",
+            )
+            encoded = encoders[sender_idx].encode(req)
+            encoded_payloads.append((sender_idx, msg_idx, tensor, encoded))
+
+    # Decode all messages — the receiver must correctly match each
+    # tensor handle to the right TensorIpcData from the shared queue.
+    for sender_idx, msg_idx, original_tensor, encoded in encoded_payloads:
+        decoded = decoder.decode(encoded)
+        assert isinstance(decoded, RequestWithTensor)
+        assert decoded.data == f"s{sender_idx}_m{msg_idx}"
+        assert decoded.prompt_embeds is not None
+        assert decoded.prompt_embeds.shape == original_tensor.shape, (
+            f"Shape mismatch for sender {sender_idx} msg {msg_idx}: "
+            f"{decoded.prompt_embeds.shape} != {original_tensor.shape}"
+        )
+        assert torch.allclose(decoded.prompt_embeds, original_tensor), (
+            f"Value mismatch for sender {sender_idx} msg {msg_idx}"
+        )
diff --git a/tests/v1/test_tensor_ipc_queue.py b/tests/v1/test_tensor_ipc_queue.py
new file mode 100644
index 000000000..a3fcb97ca
--- /dev/null
+++ b/tests/v1/test_tensor_ipc_queue.py
@@ -0,0 +1,943 @@
+# SPDX-License-Identifier: Apache-2.0
+# SPDX-FileCopyrightText: Copyright contributors to the vLLM project
+
+"""Tests for tensor IPC queue functionality."""
+
+import contextlib
+import multiprocessing as mp
+from dataclasses import dataclass
+from multiprocessing.synchronize import Barrier as BarrierType
+from multiprocessing.synchronize import Event as EventType
+from typing import Any
+
+import pytest
+import torch
+import torch.multiprocessing as torch_mp
+
+from vllm.v1.engine.tensor_ipc import (
+    TensorIpcData,
+    TensorIpcReceiver,
+    TensorIpcSender,
+)
+from vllm.v1.serial_utils import MsgpackDecoder, MsgpackEncoder
+
+
+@pytest.fixture(scope="module", autouse=True)
+def setup_multiprocessing():
+    """Set multiprocessing start method to 'spawn' for compatibility."""
+    with contextlib.suppress(RuntimeError):
+        # Already set, which is fine
+        torch_mp.set_start_method("spawn", force=True)
+    yield
+
+
+@dataclass
+# Use a typed container so the test covers the real vLLM path where tensor IPC
+# handles are encoded and decoded as fields nested inside larger msgpack payloads.
+class TensorEnvelope:
+    tensor: torch.Tensor
+    label: str
+
+
+def encoder_process(
+    tensor_queue: torch_mp.Queue,
+    payload_queue: mp.Queue,
+    result_queue: mp.Queue,
+    tensor_data: dict[str, Any],
+    ready_event: EventType,
+    retrieval_done: EventType,
+):
+    """Process that msgpack-encodes and sends tensors via IPC."""
+    try:
+        sender = TensorIpcSender(tensor_queue)
+        encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+        if torch.cuda.is_available():
+            device = "cuda:0"
+            tensor = torch.randn(
+                *tensor_data["shape"], dtype=tensor_data["dtype"], device=device
+            )
+        else:
+            # Fall back to CPU for testing
+            device = "cpu"
+            tensor = torch.randn(*tensor_data["shape"], dtype=tensor_data["dtype"])
+
+        message = TensorEnvelope(tensor=tensor, label="cuda-msgpack")
+        encoded = encoder.encode(message)
+        payload_queue.put(encoded, timeout=10.0)
+
+        ready_event.set()
+
+        result_queue.put(
+            {
+                "success": True,
+                "encoded_length": len(encoded),
+                "device": str(device),
+                "tensor_shape": tuple(tensor.shape),
+            }
+        )
+        retrieval_done.wait(timeout=30.0)
+    except Exception as e:
+        import traceback
+
+        ready_event.set()
+        retrieval_done.set()
+        result_queue.put(
+            {"success": False, "error": str(e), "traceback": traceback.format_exc()}
+        )
+
+
+def decoder_process(
+    tensor_queue: torch_mp.Queue,
+    payload_queue: mp.Queue,
+    result_queue: mp.Queue,
+    expected_shape: tuple,
+    encoder_ready: EventType,
+    retrieval_done: EventType,
+):
+    """Process that msgpack-decodes tensors received via IPC."""
+    try:
+        if not encoder_ready.wait(timeout=10.0):
+            raise TimeoutError("Encoder did not signal ready")
+
+        encoded = payload_queue.get(timeout=5.0)
+        receiver = TensorIpcReceiver(tensor_queue)
+        decoder = MsgpackDecoder(TensorEnvelope, oob_tensor_provider=receiver)
+        decoded = decoder.decode(encoded)
+
+        result_queue.put(
+            {
+                "success": True,
+                "tensor_shape": tuple(decoded.tensor.shape),
+                "device": str(decoded.tensor.device),
+                "label": decoded.label,
+                "matches_expected": tuple(decoded.tensor.shape) == expected_shape,
+            }
+        )
+    except Exception as e:
+        import traceback
+
+        retrieval_done.set()
+        result_queue.put(
+            {"success": False, "error": str(e), "traceback": traceback.format_exc()}
+        )
+    else:
+        retrieval_done.set()
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_cuda_tensor_queue_basic():
+    """Test CUDA tensor IPC through the msgpack encoder/decoder path."""
+    tensor_queue = torch_mp.Queue()
+    payload_queue: mp.Queue = mp.Queue()
+    result_queue: mp.Queue = mp.Queue()
+    encoder_ready = mp.Event()
+    retrieval_done = mp.Event()
+
+    tensor_shape = (4, 8, 16)
+    tensor_dtype = torch.float32
+
+    encoder_proc = mp.Process(
+        target=encoder_process,
+        args=(
+            tensor_queue,
+            payload_queue,
+            result_queue,
+            {"shape": tensor_shape, "dtype": tensor_dtype},
+            encoder_ready,
+            retrieval_done,
+        ),
+    )
+    encoder_proc.start()
+
+    decoder_proc = mp.Process(
+        target=decoder_process,
+        args=(
+            tensor_queue,
+            payload_queue,
+            result_queue,
+            tensor_shape,
+            encoder_ready,
+            retrieval_done,
+        ),
+    )
+    decoder_proc.start()
+
+    encoder_result = result_queue.get(timeout=10.0)
+    decoder_result = result_queue.get(timeout=10.0)
+
+    encoder_proc.join(timeout=5.0)
+    decoder_proc.join(timeout=5.0)
+
+    # Verify results
+    assert encoder_result["success"], (
+        f"Encoder failed: {encoder_result.get('error')}\n"
+        f"{encoder_result.get('traceback', '')}"
+    )
+    assert decoder_result["success"], (
+        f"Decoder failed: {decoder_result.get('error')}\n"
+        f"{decoder_result.get('traceback', '')}"
+    )
+    assert decoder_result["matches_expected"], "Tensor shape mismatch"
+    assert "cuda" in decoder_result["device"], "Tensor not on CUDA device"
+    assert decoder_result["label"] == "cuda-msgpack"
+
+
+def test_cpu_tensor_fallback():
+    """Test that CPU tensors use standard serialization path."""
+    encoder = MsgpackEncoder()
+
+    # Create a CPU tensor
+    tensor = torch.randn(3, 4, dtype=torch.float32)
+
+    # Encode the tensor (should use standard path, not queue)
+    encoded = encoder.encode({"test_tensor": tensor})
+
+    # Verify encoding succeeded
+    assert len(encoded) > 0
+    assert isinstance(encoded, (list, tuple))
+
+    # Basic check: no queue should be used, so tensor goes through standard path
+    # This is mainly to ensure no exceptions are raised
+
+
+def test_msgpack_encoder_decoder_with_ipc():
+    """Test the full msgpack + tensor IPC path in one process."""
+    tensor_queue = torch_mp.Queue()
+    sender = TensorIpcSender(tensor_queue)
+    encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+    receiver = TensorIpcReceiver(tensor_queue)
+    decoder = MsgpackDecoder(TensorEnvelope, oob_tensor_provider=receiver)
+
+    # Use CPU here to exercise the msgpack + sender/receiver integration
+    # without relying on same-process CUDA IPC behavior.
+    tensor = torch.randn(2, 3)
+
+    message = TensorEnvelope(tensor=tensor, label="test")
+    encoded = encoder.encode(message)
+    assert len(encoded) > 0
+
+    decoded = decoder.decode(encoded)
+    assert isinstance(decoded, TensorEnvelope)
+    assert decoded.label == "test"
+    assert torch.allclose(decoded.tensor, tensor)
+
+
+def test_decoder_buffer_management():
+    """Test receiver's tensor buffer management when draining queue."""
+    tensor_queue = torch_mp.Queue()
+
+    sender_id = "test_sender"
+    message_id = 1
+
+    # Put multiple tensors in queue using TensorIpcData
+    tensors_data = [
+        (0, torch.randn(2, 3)),
+        (1, torch.randn(4, 5)),
+        (2, torch.randn(6, 7)),
+    ]
+
+    for tensor_id, tensor in tensors_data:
+        ipc_data = TensorIpcData(
+            sender_id=sender_id,
+            message_id=message_id,
+            tensor_id=tensor_id,
+            tensor=tensor,
+        )
+        tensor_queue.put(ipc_data)
+
+    # Create receiver directly
+    receiver = TensorIpcReceiver(tensor_queue)
+
+    # Request tensor_id=2 (should buffer tensor_id=0 and tensor_id=1)
+    handle = {"sender_id": sender_id, "message_id": message_id, "tensor_id": 2}
+
+    result = receiver("float32", (6, 7), handle)
+    assert result.shape == (6, 7)
+
+    # Verify buffer has tensor_id 0 and 1
+    sender = receiver._tensor_buffers[sender_id]
+    tensors = sender.tensors.get(message_id, {})
+    assert 0 in tensors
+    assert 1 in tensors
+
+    # Request buffered tensor
+    handle2 = {"sender_id": sender_id, "message_id": message_id, "tensor_id": 0}
+
+    result2 = receiver("float32", (2, 3), handle2)
+    assert result2.shape == (2, 3)
+    # tensor_id 0 should be removed from buffer
+    sender = receiver._tensor_buffers[sender_id]
+    tensors = sender.tensors.get(message_id, {})
+    assert 0 not in tensors
+
+
+def api_server_worker(
+    server_id: int,
+    tensor_queue: torch_mp.Queue,
+    result_queue: mp.Queue,
+    barrier: BarrierType,
+    retrieval_done: EventType,
+):
+    """Worker simulating an API server sending tensors."""
+    try:
+        # Each server sends a unique tensor
+        tensor = torch.ones(server_id + 1, server_id + 2) * server_id
+        sender_id = f"server_{server_id}"
+
+        # Wait for all servers to be ready
+        barrier.wait()
+
+        # Send tensor using TensorIpcData
+        ipc_data = TensorIpcData(
+            sender_id=sender_id,
+            message_id=0,
+            tensor_id=0,
+            tensor=tensor,
+        )
+        tensor_queue.put(ipc_data)
+
+        result_queue.put({"server_id": server_id, "success": True})
+
+        # Keep process alive until main process has retrieved all tensors
+        # This prevents shared memory handles from being invalidated
+        retrieval_done.wait(timeout=30.0)
+    except Exception as e:
+        import traceback
+
+        result_queue.put(
+            {
+                "server_id": server_id,
+                "success": False,
+                "error": str(e),
+                "traceback": traceback.format_exc(),
+            }
+        )
+
+
+def test_multiple_api_servers_to_engine():
+    """Test multiple API servers sending to one engine core via multiprocessing."""
+    num_api_servers = 3
+    tensor_queue = torch_mp.Queue()
+    result_queue: mp.Queue = mp.Queue()
+    barrier = mp.Barrier(num_api_servers)
+    retrieval_done = mp.Event()
+
+    # Start multiple API server processes
+    processes = []
+    for server_id in range(num_api_servers):
+        proc = mp.Process(
+            target=api_server_worker,
+            args=(server_id, tensor_queue, result_queue, barrier, retrieval_done),
+        )
+        proc.start()
+        processes.append(proc)
+
+    # Collect results from all servers
+    results = []
+    for _ in range(num_api_servers):
+        result = result_queue.get(timeout=10.0)
+        results.append(result)
+
+    # Verify all servers succeeded
+    for result in results:
+        assert result["success"], (
+            f"Server {result['server_id']} failed: {result.get('error')}"
+        )
+
+    # Verify all tensors are in queue
+    received_tensors = []
+    for _ in range(num_api_servers):
+        ipc_data = tensor_queue.get(timeout=1.0)
+        received_tensors.append((ipc_data.sender_id, ipc_data.tensor))
+
+    assert len(received_tensors) == num_api_servers
+
+    # Verify tensor content (order may vary with multiprocessing)
+    tensor_by_sender = {sid: t for sid, t in received_tensors}
+    for server_id in range(num_api_servers):
+        expected_id = f"server_{server_id}"
+        assert expected_id in tensor_by_sender, (
+            f"Missing tensor from server {server_id}"
+        )
+        expected_tensor = torch.ones(server_id + 1, server_id + 2) * server_id
+        assert torch.allclose(tensor_by_sender[expected_id], expected_tensor)
+
+    # Signal workers that retrieval is complete
+    retrieval_done.set()
+
+    # Wait for all processes to complete
+    for proc in processes:
+        proc.join(timeout=5.0)
+
+
+def mixed_tensor_encoder_process(
+    tensor_queue: torch_mp.Queue,
+    result_queue: mp.Queue,
+    ready_event: EventType,
+    retrieval_done: EventType,
+):
+    """Process that encodes mixed CPU/CUDA tensors."""
+    try:
+        sender = TensorIpcSender(tensor_queue)
+        _encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+        # Create only CUDA tensor for IPC (CPU will be serialized)
+        # But actually, let's just send CUDA tensor directly
+        cuda_tensor = torch.randn(4, 5, device="cuda:0")
+
+        # Manually send via IPC to test the mechanism
+        cuda_tensor_shared = cuda_tensor.share_memory_()
+
+        ipc_data = TensorIpcData(
+            sender_id="mixed_encoder",
+            message_id=0,
+            tensor_id=0,
+            tensor=cuda_tensor_shared,
+        )
+        tensor_queue.put(ipc_data, timeout=10.0)
+
+        ready_event.set()
+
+        result_queue.put({"success": True, "sent_cuda": True})
+
+        # Keep process alive until decoder has retrieved the tensor
+        retrieval_done.wait(timeout=30.0)
+    except Exception as e:
+        import traceback
+
+        ready_event.set()
+        result_queue.put(
+            {"success": False, "error": str(e), "traceback": traceback.format_exc()}
+        )
+
+
+def mixed_tensor_decoder_process(
+    tensor_queue: torch_mp.Queue,
+    result_queue: mp.Queue,
+    encoder_ready: EventType,
+    retrieval_done: EventType,
+):
+    """Process that retrieves mixed tensors from queue."""
+    try:
+        # Wait for encoder to finish
+        if not encoder_ready.wait(timeout=10.0):
+            raise TimeoutError("Encoder did not signal ready")
+
+        # Try to get CUDA tensor from queue
+        ipc_data = tensor_queue.get(timeout=5.0)
+
+        result_queue.put(
+            {
+                "success": True,
+                "is_cuda": ipc_data.tensor.is_cuda,
+                "shape": tuple(ipc_data.tensor.shape),
+            }
+        )
+
+        # Signal that retrieval is complete
+        retrieval_done.set()
+    except Exception as e:
+        import traceback
+
+        retrieval_done.set()  # Signal even on failure
+        result_queue.put(
+            {"success": False, "error": str(e), "traceback": traceback.format_exc()}
+        )
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_mixed_cpu_cuda_tensors():
+    """Test encoding with mixed CPU and CUDA tensors using multiprocessing."""
+    tensor_queue = torch_mp.Queue()
+    result_queue: mp.Queue = mp.Queue()
+    encoder_ready = mp.Event()
+    retrieval_done = mp.Event()
+
+    # Start encoder process
+    encoder_proc = mp.Process(
+        target=mixed_tensor_encoder_process,
+        args=(tensor_queue, result_queue, encoder_ready, retrieval_done),
+    )
+    encoder_proc.start()
+
+    # Start decoder process
+    decoder_proc = mp.Process(
+        target=mixed_tensor_decoder_process,
+        args=(tensor_queue, result_queue, encoder_ready, retrieval_done),
+    )
+    decoder_proc.start()
+
+    # Get results
+    encoder_result = result_queue.get(timeout=10.0)
+    decoder_result = result_queue.get(timeout=10.0)
+
+    encoder_proc.join(timeout=5.0)
+    decoder_proc.join(timeout=5.0)
+
+    # Verify encoder succeeded
+    assert encoder_result["success"], (
+        f"Encoder failed: {encoder_result.get('error')}\n"
+        f"{encoder_result.get('traceback', '')}"
+    )
+
+    # Verify decoder succeeded and got CUDA tensor
+    assert decoder_result["success"], (
+        f"Decoder failed: {decoder_result.get('error')}\n"
+        f"{decoder_result.get('traceback', '')}"
+    )
+    assert decoder_result["is_cuda"], "Retrieved tensor is not on CUDA"
+    assert decoder_result["shape"] == (4, 5), (
+        f"Unexpected shape: {decoder_result['shape']}"
+    )
+
+
+def cpu_tensor_ipc_encoder_process(
+    tensor_queue: torch_mp.Queue,
+    result_queue: mp.Queue,
+    tensor_shape: tuple,
+    ready_event: EventType,
+    retrieval_done: EventType,
+):
+    """Process that encodes and sends CPU tensors via IPC queue."""
+    try:
+        # Create encoder with IPC enabled for all tensors
+        sender = TensorIpcSender(tensor_queue)
+        encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+        # Create a CPU tensor
+        tensor = torch.randn(*tensor_shape, dtype=torch.float32)
+
+        # Encode the tensor (should use IPC queue, not standard serialization)
+        encoded = encoder.encode({"test_tensor": tensor})
+
+        # Signal that encoding is complete
+        ready_event.set()
+
+        result_queue.put(
+            {
+                "success": True,
+                "encoded_length": len(encoded),
+                "device": str(tensor.device),
+                "tensor_shape": tuple(tensor.shape),
+            }
+        )
+
+        # Keep process alive until decoder has retrieved the tensor
+        # This is necessary for CPU tensor shared memory to remain valid
+        retrieval_done.wait(timeout=30.0)
+    except Exception as e:
+        import traceback
+
+        ready_event.set()
+        result_queue.put(
+            {"success": False, "error": str(e), "traceback": traceback.format_exc()}
+        )
+
+
+def cpu_tensor_ipc_decoder_process(
+    tensor_queue: torch_mp.Queue,
+    result_queue: mp.Queue,
+    expected_shape: tuple,
+    encoder_ready: EventType,
+    retrieval_done: EventType,
+):
+    """Process that decodes and receives CPU tensors from IPC queue."""
+    try:
+        # Wait for encoder to finish sending
+        if not encoder_ready.wait(timeout=10.0):
+            raise TimeoutError("Encoder did not signal ready")
+
+        # Get tensor from queue
+        ipc_data = tensor_queue.get(timeout=5.0)
+
+        result_queue.put(
+            {
+                "success": True,
+                "tensor_id": ipc_data.tensor_id,
+                "tensor_shape": tuple(ipc_data.tensor.shape),
+                "device": str(ipc_data.tensor.device),
+                "matches_expected": tuple(ipc_data.tensor.shape) == expected_shape,
+                "is_cpu": ipc_data.tensor.device.type == "cpu",
+            }
+        )
+
+        # Signal that retrieval is complete
+        retrieval_done.set()
+    except Exception as e:
+        import traceback
+
+        retrieval_done.set()  # Signal even on failure
+        result_queue.put(
+            {"success": False, "error": str(e), "traceback": traceback.format_exc()}
+        )
+
+
+def test_cpu_tensor_ipc():
+    """Test CPU tensor sharing via IPC queue when mm_tensor_ipc is enabled."""
+    # Set up single queue and synchronization
+    tensor_queue = torch_mp.Queue()
+    result_queue: mp.Queue = mp.Queue()
+    encoder_ready = mp.Event()
+    retrieval_done = mp.Event()
+
+    tensor_shape = (3, 5, 7)
+
+    # Start encoder process
+    encoder_proc = mp.Process(
+        target=cpu_tensor_ipc_encoder_process,
+        args=(
+            tensor_queue,
+            result_queue,
+            tensor_shape,
+            encoder_ready,
+            retrieval_done,
+        ),
+    )
+    encoder_proc.start()
+
+    # Start decoder process
+    decoder_proc = mp.Process(
+        target=cpu_tensor_ipc_decoder_process,
+        args=(
+            tensor_queue,
+            result_queue,
+            tensor_shape,
+            encoder_ready,
+            retrieval_done,
+        ),
+    )
+    decoder_proc.start()
+
+    # Wait for processes and collect results
+    encoder_result = result_queue.get(timeout=10.0)
+    decoder_result = result_queue.get(timeout=10.0)
+
+    encoder_proc.join(timeout=5.0)
+    decoder_proc.join(timeout=5.0)
+
+    # Verify results
+    assert encoder_result["success"], (
+        f"Encoder failed: {encoder_result.get('error')}\n"
+        f"{encoder_result.get('traceback', '')}"
+    )
+    assert decoder_result["success"], (
+        f"Decoder failed: {decoder_result.get('error')}\n"
+        f"{decoder_result.get('traceback', '')}"
+    )
+    assert decoder_result["matches_expected"], "Tensor shape mismatch"
+    assert decoder_result["is_cpu"], "Tensor not on CPU device"
+
+
+def test_ipc_disabled_mode():
+    """Test that IPC is disabled when no sender is provided."""
+    tensor_queues = [torch_mp.Queue()]
+
+    # Create encoder without IPC sender (IPC disabled)
+    encoder = MsgpackEncoder()
+
+    # Create a CPU tensor
+    cpu_tensor = torch.randn(2, 3, dtype=torch.float32)
+
+    # Encode the tensor (should use standard serialization, not IPC)
+    encoded = encoder.encode({"test_tensor": cpu_tensor})
+
+    # Verify encoding succeeded
+    assert len(encoded) > 0
+    assert isinstance(encoded, (list, tuple))
+
+    # Verify queue is empty (no IPC was used)
+    assert tensor_queues[0].empty(), "Tensor queue should be empty when IPC is disabled"
+
+    # If CUDA is available, test with CUDA tensor too
+    if torch.cuda.is_available():
+        cuda_tensor = torch.randn(4, 5, device="cuda:0")
+        encoded_cuda = encoder.encode({"cuda_tensor": cuda_tensor})
+        assert len(encoded_cuda) > 0
+        assert tensor_queues[0].empty(), (
+            "Tensor queue should be empty for CUDA tensor when IPC is disabled"
+        )
+
+
+@dataclass
+class MultiTensorMessage:
+    """Message with multiple tensors to test multi-tensor IPC."""
+
+    t1: torch.Tensor
+    t2: torch.Tensor
+    sender_label: str
+
+
+def concurrent_sender_process(
+    tensor_queue: torch_mp.Queue,
+    payload_queue: mp.Queue,
+    result_queue: mp.Queue,
+    sender_index: int,
+    num_messages: int,
+    barrier: BarrierType,
+    retrieval_done: EventType,
+):
+    """Process that acts as one of N concurrent senders."""
+    try:
+        sender = TensorIpcSender(tensor_queue)
+        encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+        # Wait for all senders to be ready before sending
+        barrier.wait(timeout=10.0)
+
+        encoded_payloads = []
+        for msg_idx in range(num_messages):
+            # Each sender creates uniquely-shaped tensors so we can
+            # verify correct routing on the receiver side.
+            t1 = torch.full((sender_index + 1, 3), float(msg_idx), dtype=torch.float32)
+            t2 = torch.full(
+                (2, sender_index + 2), float(msg_idx + 100), dtype=torch.float64
+            )
+            msg = MultiTensorMessage(
+                t1=t1,
+                t2=t2,
+                sender_label=f"sender_{sender_index}_msg_{msg_idx}",
+            )
+            encoded = encoder.encode(msg)
+            encoded_payloads.append(encoded)
+
+        # Send all encoded payloads via the regular (non-tensor) queue
+        for encoded in encoded_payloads:
+            payload_queue.put(encoded, timeout=10.0)
+
+        result_queue.put(
+            {
+                "success": True,
+                "sender_index": sender_index,
+                "num_sent": num_messages,
+            }
+        )
+
+        # Keep alive so shared-memory handles remain valid
+        retrieval_done.wait(timeout=30.0)
+    except Exception as e:
+        import traceback
+
+        result_queue.put(
+            {
+                "success": False,
+                "sender_index": sender_index,
+                "error": str(e),
+                "traceback": traceback.format_exc(),
+            }
+        )
+
+
+def test_concurrent_senders_single_receiver():
+    """Test N concurrent senders sharing one queue with a single receiver.
+
+    Each sender encodes multiple messages (each containing two tensors) via
+    its own MsgpackEncoder + TensorIpcSender.  A single TensorIpcReceiver
+    on the receiving side must correctly drain-and-buffer interleaved
+    TensorIpcData items from the shared queue and match them back to the
+    right message handles during decode.
+    """
+    num_senders = 4
+    num_messages_per_sender = 3
+    tensor_queue = torch_mp.Queue()
+    payload_queue: mp.Queue = mp.Queue()
+    result_queue: mp.Queue = mp.Queue()
+    barrier = mp.Barrier(num_senders)
+    retrieval_done = mp.Event()
+
+    # Launch sender processes
+    processes = []
+    for i in range(num_senders):
+        proc = mp.Process(
+            target=concurrent_sender_process,
+            args=(
+                tensor_queue,
+                payload_queue,
+                result_queue,
+                i,
+                num_messages_per_sender,
+                barrier,
+                retrieval_done,
+            ),
+        )
+        proc.start()
+        processes.append(proc)
+
+    # Collect send confirmations
+    send_results = []
+    for _ in range(num_senders):
+        send_results.append(result_queue.get(timeout=15.0))
+    for r in send_results:
+        assert r["success"], (
+            f"Sender {r['sender_index']} failed: {r.get('error')}\n"
+            f"{r.get('traceback', '')}"
+        )
+
+    # Now decode all messages from the main process using a single receiver
+    receiver = TensorIpcReceiver(tensor_queue)
+    decoder = MsgpackDecoder(MultiTensorMessage, oob_tensor_provider=receiver)
+
+    decoded_messages: list[MultiTensorMessage] = []
+    total = num_senders * num_messages_per_sender
+    for _ in range(total):
+        encoded = payload_queue.get(timeout=10.0)
+        decoded = decoder.decode(encoded)
+        assert isinstance(decoded, MultiTensorMessage)
+        decoded_messages.append(decoded)
+
+    # Signal senders they can exit
+    retrieval_done.set()
+
+    # Group by sender_label prefix to verify all messages arrived
+    by_sender: dict[int, list[MultiTensorMessage]] = {}
+    for msg in decoded_messages:
+        # label format: "sender_{i}_msg_{j}"
+        parts = msg.sender_label.split("_")
+        sender_idx = int(parts[1])
+        by_sender.setdefault(sender_idx, []).append(msg)
+
+    assert len(by_sender) == num_senders, (
+        f"Expected {num_senders} senders, got {len(by_sender)}"
+    )
+
+    for sender_idx in range(num_senders):
+        msgs = sorted(by_sender[sender_idx], key=lambda m: m.sender_label)
+        assert len(msgs) == num_messages_per_sender, (
+            f"Sender {sender_idx}: expected {num_messages_per_sender} "
+            f"messages, got {len(msgs)}"
+        )
+        for msg_idx, msg in enumerate(msgs):
+            assert msg.sender_label == f"sender_{sender_idx}_msg_{msg_idx}"
+            # Verify tensor shapes match what the sender created
+            assert msg.t1.shape == (sender_idx + 1, 3)
+            assert msg.t2.shape == (2, sender_idx + 2)
+            # Verify tensor values
+            assert torch.allclose(msg.t1, torch.full_like(msg.t1, float(msg_idx)))
+            assert torch.allclose(msg.t2, torch.full_like(msg.t2, float(msg_idx + 100)))
+
+    for proc in processes:
+        proc.join(timeout=5.0)
+
+
+def test_concurrent_senders_interleaved_buffer():
+    """Test receiver buffering when tensors from multiple senders interleave.
+
+    Manually enqueue TensorIpcData from two senders in an interleaved order
+    and verify the receiver correctly buffers and retrieves each tensor by
+    its (sender_id, message_id, tensor_id) handle.
+    """
+    tensor_queue = torch_mp.Queue()
+
+    # Sender A: 2 tensors for message 1
+    a_t0 = torch.randn(2, 3)
+    a_t1 = torch.randn(4, 5)
+    # Sender B: 2 tensors for message 1
+    b_t0 = torch.randn(6, 7)
+    b_t1 = torch.randn(8, 9)
+
+    # Interleave: B_t0, A_t0, B_t1, A_t1
+    for sid, mid, tid, t in [
+        ("B", 1, 0, b_t0),
+        ("A", 1, 0, a_t0),
+        ("B", 1, 1, b_t1),
+        ("A", 1, 1, a_t1),
+    ]:
+        tensor_queue.put(
+            TensorIpcData(sender_id=sid, message_id=mid, tensor_id=tid, tensor=t)
+        )
+
+    receiver = TensorIpcReceiver(tensor_queue)
+
+    # Request A_t1 first — receiver must drain and buffer B_t0, A_t0, B_t1
+    result = receiver(
+        "float32", a_t1.shape, {"sender_id": "A", "message_id": 1, "tensor_id": 1}
+    )
+    assert torch.equal(result, a_t1)
+
+    # Now request B_t0 from buffer
+    result = receiver(
+        "float32", b_t0.shape, {"sender_id": "B", "message_id": 1, "tensor_id": 0}
+    )
+    assert torch.equal(result, b_t0)
+
+    # Request A_t0 from buffer
+    result = receiver(
+        "float32", a_t0.shape, {"sender_id": "A", "message_id": 1, "tensor_id": 0}
+    )
+    assert torch.equal(result, a_t0)
+
+    # Request B_t1 from buffer
+    result = receiver(
+        "float64", b_t1.shape, {"sender_id": "B", "message_id": 1, "tensor_id": 1}
+    )
+    assert torch.equal(result, b_t1)
+
+    # All buffers should be drained
+    for sid in ("A", "B"):
+        tensors = receiver._tensor_buffers[sid].tensors.get(1, {})
+        assert len(tensors) == 0, f"Sender {sid} buffer not empty: {tensors}"
+
+
+def test_mixed_cpu_cuda_with_ipc_enabled():
+    """Test that encoder is configured correctly for IPC with all tensor types."""
+    if not torch.cuda.is_available():
+        pytest.skip("CUDA not available")
+
+    tensor_queue = torch_mp.Queue()
+
+    # Create sender and encoder with IPC enabled
+    sender = TensorIpcSender(tensor_queue)
+    encoder = MsgpackEncoder(oob_tensor_consumer=sender)
+
+    # Verify sender configuration
+    assert encoder.oob_tensor_consumer is not None, "Consumer should be set"
+
+    # Note: Actual IPC transfer only works across processes
+    # (tested in test_cpu_tensor_ipc)
+    # This test just verifies the configuration is correct
+
+
+def test_tensor_cleanup_after_decode():
+    """Test that tensors are removed from tracking after successful decode."""
+    # Create a tensor queue
+    tensor_queue = torch_mp.Queue()
+
+    # Create and encode a tensor
+    tensor = torch.randn(5, 5)
+    # Move to shared memory for IPC
+    if not tensor.is_shared():
+        tensor.share_memory_()
+
+    # Manually create a TensorIpcData and put it in the queue
+    sender_id = "test_sender"
+    message_id = 0
+    tensor_id = 0
+    ipc_data = TensorIpcData(
+        sender_id=sender_id,
+        message_id=message_id,
+        tensor_id=tensor_id,
+        tensor=tensor,
+    )
+    tensor_queue.put(ipc_data)
+
+    # Create receiver directly
+    receiver = TensorIpcReceiver(tensor_queue)
+
+    handle = {
+        "sender_id": sender_id,
+        "message_id": message_id,
+        "tensor_id": tensor_id,
+    }
+
+    # Receive the tensor - this should retrieve it from the queue
+    decoded_tensor = receiver(
+        str(tensor.dtype).removeprefix("torch."), tensor.shape, handle
+    )
+
+    # Verify the tensor was decoded
+    assert decoded_tensor.shape == tensor.shape, "Decoded tensor should match shape"
+
+    # Verify the tensor was removed from buffer after decode
+    sender = receiver._tensor_buffers[sender_id]
+    tensors = sender.tensors.get(message_id, {})
+    assert tensor_id not in tensors, "Tensor should be removed from buffer"
diff --git a/vllm/config/model.py b/vllm/config/model.py
index 6d3828370..19787f80b 100644
--- a/vllm/config/model.py
+++ b/vllm/config/model.py
@@ -14,7 +14,12 @@ import vllm.envs as envs
 from vllm.config.model_arch import (
     ModelArchitectureConfig,
 )
-from vllm.config.multimodal import MMCacheType, MMEncoderTPMode, MultiModalConfig
+from vllm.config.multimodal import (
+    MMCacheType,
+    MMEncoderTPMode,
+    MMTensorIPC,
+    MultiModalConfig,
+)
 from vllm.config.pooler import PoolerConfig
 from vllm.config.scheduler import RunnerType
 from vllm.config.utils import config, getattr_iter
@@ -310,6 +315,7 @@ class ModelConfig:
     interleave_mm_strings: InitVar[bool | None] = None
     skip_mm_profiling: InitVar[bool | None] = None
     video_pruning_rate: InitVar[float | None] = None
+    mm_tensor_ipc: InitVar[MMTensorIPC] = None
 
     def compute_hash(self) -> str:
         """
@@ -430,6 +436,7 @@ class ModelConfig:
         interleave_mm_strings: bool | None,
         skip_mm_profiling: bool | None,
         video_pruning_rate: float | None,
+        mm_tensor_ipc: MMTensorIPC,
     ) -> None:
         # Keep set served_model_name before maybe_model_redirect(self.model)
         self.served_model_name = get_served_model_name(
@@ -612,6 +619,7 @@ class ModelConfig:
                 interleave_mm_strings=interleave_mm_strings,
                 skip_mm_profiling=skip_mm_profiling,
                 video_pruning_rate=video_pruning_rate,
+                mm_tensor_ipc=mm_tensor_ipc,
             )
 
             mm_config_kwargs = {
@@ -1112,6 +1120,22 @@ class ModelConfig:
                 f"({parallel_config.decode_context_parallel_size})."
             )
 
+        # torch_shm uses a single IPC queue to rank 0; DP>1 is
+        # incompatible because API servers can't know which
+        # CoreEngine the scheduler will assign work to. TP>1 is
+        # also not supported because this requires broadcasting
+        # MM tensors between all TP ranks.
+        if (
+            self.multimodal_config is not None
+            and self.multimodal_config.mm_tensor_ipc == "torch_shm"
+            and parallel_config.world_size_across_dp > 1
+        ):
+            raise ValueError(
+                "mm_tensor_ipc='torch_shm' is not supported with "
+                "data_parallel_size > 1 or tensor_parallel_size > 1 "
+                "or pipeline_parallel_size > 1."
+            )
+
     def get_sliding_window(self) -> int | None:
         """Get the sliding window size from the HF text config if present."""
         return getattr(self.hf_text_config, "sliding_window", None)
diff --git a/vllm/config/multimodal.py b/vllm/config/multimodal.py
index f95a2e140..1c9bc43b0 100644
--- a/vllm/config/multimodal.py
+++ b/vllm/config/multimodal.py
@@ -59,6 +59,7 @@ class MultiModalDummyOptionsBuiltins(TypedDict, total=False):
 
 MMEncoderTPMode = Literal["weights", "data"]
 MMCacheType = Literal["shm", "lru"]
+MMTensorIPC = Literal["direct_rpc", "torch_shm"]
 MMDummyOptions: TypeAlias = dict[str, BaseDummyOptions]
 """
 A dictionary containing an entry for each modality type of dummy data.
@@ -172,6 +173,11 @@ class MultiModalConfig:
     Value sits in range [0;1) and determines fraction of media tokens
     from each video to be pruned.
     """
+    mm_tensor_ipc: MMTensorIPC = "direct_rpc"
+    """IPC (inter-process communication) method for multimodal tensors.
+    - "direct_rpc": Use msgspec serialization via RPC
+    - "torch_shm": Use torch.multiprocessing shared memory for zero-copy IPC
+    Defaults to "direct_rpc". """
 
     @field_validator("limit_per_prompt", mode="before")
     @classmethod
diff --git a/vllm/config/vllm.py b/vllm/config/vllm.py
index 77a908deb..a178a8f54 100644
--- a/vllm/config/vllm.py
+++ b/vllm/config/vllm.py
@@ -766,6 +766,17 @@ class VllmConfig:
             else:
                 self.parallel_config.disable_nccl_for_dp_synchronization = False
 
+        if (
+            self.model_config is not None
+            and self.model_config.multimodal_config is not None
+            and self.model_config.multimodal_config.mm_tensor_ipc == "torch_shm"
+            and os.environ.get("VLLM_WORKER_MULTIPROC_METHOD") != "spawn"
+        ):
+            raise ValueError(
+                "torch_shm is known to fail without "
+                "VLLM_WORKER_MULTIPROC_METHOD set to spawn"
+            )
+
         from vllm.platforms import current_platform
 
         if (
diff --git a/vllm/engine/arg_utils.py b/vllm/engine/arg_utils.py
index 730641a18..e344bae26 100644
--- a/vllm/engine/arg_utils.py
+++ b/vllm/engine/arg_utils.py
@@ -79,7 +79,7 @@ from vllm.config.model import (
     RunnerOption,
     TokenizerMode,
 )
-from vllm.config.multimodal import MMCacheType, MMEncoderTPMode
+from vllm.config.multimodal import MMCacheType, MMEncoderTPMode, MMTensorIPC
 from vllm.config.observability import DetailedTraceModules
 from vllm.config.parallel import (
     All2AllBackend,
@@ -509,6 +509,7 @@ class EngineArgs:
     io_processor_plugin: str | None = None
     skip_mm_profiling: bool = MultiModalConfig.skip_mm_profiling
     video_pruning_rate: float | None = MultiModalConfig.video_pruning_rate
+    mm_tensor_ipc: MMTensorIPC = MultiModalConfig.mm_tensor_ipc
     # LoRA fields
     enable_lora: bool = False
     max_loras: int = LoRAConfig.max_loras
@@ -1097,6 +1098,9 @@ class EngineArgs:
         multimodal_group.add_argument(
             "--video-pruning-rate", **multimodal_kwargs["video_pruning_rate"]
         )
+        multimodal_group.add_argument(
+            "--mm-tensor-ipc", **multimodal_kwargs["mm_tensor_ipc"]
+        )
 
         # LoRA related configs
         lora_kwargs = get_kwargs(LoRAConfig)
@@ -1423,6 +1427,7 @@ class EngineArgs:
             override_attention_dtype=self.override_attention_dtype,
             logits_processors=self.logits_processors,
             video_pruning_rate=self.video_pruning_rate,
+            mm_tensor_ipc=self.mm_tensor_ipc,
             io_processor_plugin=self.io_processor_plugin,
         )
 
diff --git a/vllm/entrypoints/cli/serve.py b/vllm/entrypoints/cli/serve.py
index 195b945bc..65e31b829 100644
--- a/vllm/entrypoints/cli/serve.py
+++ b/vllm/entrypoints/cli/serve.py
@@ -290,7 +290,7 @@ def run_multi_api_server(args: argparse.Namespace):
 
     with launch_core_engines(
         vllm_config, executor_class, log_stats, addresses, num_api_servers
-    ) as (local_engine_manager, coordinator, addresses):
+    ) as (local_engine_manager, coordinator, addresses, tensor_queue):
         # Construct common args for the APIServerProcessManager up-front.
         api_server_manager_kwargs = dict(
             target_server_fn=run_api_server_worker_proc,
@@ -303,6 +303,7 @@ def run_multi_api_server(args: argparse.Namespace):
             stats_update_address=coordinator.get_stats_publish_address()
             if coordinator
             else None,
+            tensor_queue=tensor_queue,
         )
 
         # For dp ranks > 0 in external/hybrid DP LB modes, we must delay the
diff --git a/vllm/v1/engine/core.py b/vllm/v1/engine/core.py
index 22c7cc7f4..0fa59579e 100644
--- a/vllm/v1/engine/core.py
+++ b/vllm/v1/engine/core.py
@@ -13,6 +13,7 @@ from enum import IntEnum
 from functools import partial
 from inspect import isclass, signature
 from logging import DEBUG
+from multiprocessing.queues import Queue
 from typing import Any, TypeVar, cast
 
 import msgspec
@@ -59,6 +60,7 @@ from vllm.v1.engine import (
     UtilityOutput,
     UtilityResult,
 )
+from vllm.v1.engine.tensor_ipc import TensorIpcReceiver
 from vllm.v1.engine.utils import (
     EngineHandshakeMetadata,
     EngineZmqAddresses,
@@ -788,6 +790,7 @@ class EngineCoreProc(EngineCore):
         executor_class: type[Executor],
         log_stats: bool,
         client_handshake_address: str | None = None,
+        tensor_queue: Queue | None = None,
         *,
         engine_index: int = 0,
     ):
@@ -802,6 +805,12 @@ class EngineCoreProc(EngineCore):
         self.engines_running = False
         self.shutdown_state = EngineShutdownState.RUNNING
 
+        # Receiver for tensor IPC
+        self.tensor_ipc_receiver: TensorIpcReceiver | None = None
+        if tensor_queue is not None:
+            self.tensor_ipc_receiver = TensorIpcReceiver(tensor_queue)
+            logger.info("Using tensor IPC queue for multimodal tensor sharing")
+
         with self._perform_handshakes(
             handshake_address,
             identity,
@@ -1340,9 +1349,11 @@ class EngineCoreProc(EngineCore):
     ):
         """Input socket IO thread."""
 
-        # Msgpack serialization decoding.
-        add_request_decoder = MsgpackDecoder(EngineCoreRequest)
-        generic_decoder = MsgpackDecoder()
+        # Msgpack serialization decoding with optional tensor IPC receiver.
+        add_request_decoder = MsgpackDecoder(
+            EngineCoreRequest, oob_tensor_provider=self.tensor_ipc_receiver
+        )
+        generic_decoder = MsgpackDecoder(oob_tensor_provider=self.tensor_ipc_receiver)
 
         with ExitStack() as stack, zmq.Context() as ctx:
             input_sockets = [
@@ -1418,10 +1429,7 @@ class EngineCoreProc(EngineCore):
                     self.input_queue.put_nowait((request_type, request))
 
     def process_output_sockets(
-        self,
-        output_paths: list[str],
-        coord_output_path: str | None,
-        engine_index: int,
+        self, output_paths: list[str], coord_output_path: str | None, engine_index: int
     ):
         """Output socket IO thread."""
 
@@ -1580,6 +1588,7 @@ class DPEngineCoreProc(EngineCoreProc):
         executor_class: type[Executor],
         log_stats: bool,
         client_handshake_address: str | None = None,
+        tensor_queue: Queue | None = None,
     ):
         assert vllm_config.model_config.is_moe, (
             "DPEngineCoreProc should only be used for MoE models"
@@ -1605,6 +1614,7 @@ class DPEngineCoreProc(EngineCoreProc):
             log_stats,
             client_handshake_address,
             engine_index=dp_rank,
+            tensor_queue=tensor_queue,
         )
 
     def _init_data_parallel(self, vllm_config: VllmConfig):
diff --git a/vllm/v1/engine/core_client.py b/vllm/v1/engine/core_client.py
index 91664058d..b9a3c7545 100644
--- a/vllm/v1/engine/core_client.py
+++ b/vllm/v1/engine/core_client.py
@@ -12,6 +12,7 @@ from collections import defaultdict, deque
 from collections.abc import Awaitable, Callable, Sequence
 from concurrent.futures import Future
 from dataclasses import dataclass
+from multiprocessing.queues import Queue
 from threading import Thread
 from typing import Any, TypeAlias, TypeVar
 
@@ -45,6 +46,7 @@ from vllm.v1.engine import (
 from vllm.v1.engine.coordinator import DPCoordinator
 from vllm.v1.engine.core import EngineCore, EngineCoreProc
 from vllm.v1.engine.exceptions import EngineDeadError
+from vllm.v1.engine.tensor_ipc import TensorIpcSender
 from vllm.v1.engine.utils import (
     CoreEngineActorManager,
     CoreEngineProcManager,
@@ -477,9 +479,6 @@ class MPClient(EngineCoreClient):
         client_addresses: dict[str, str] | None = None,
     ):
         self.vllm_config = vllm_config
-        # Serialization setup.
-        self.encoder = MsgpackEncoder()
-        self.decoder = MsgpackDecoder(EngineCoreOutputs)
 
         # ZMQ setup.
         sync_ctx = zmq.Context(io_threads=2)
@@ -501,11 +500,14 @@ class MPClient(EngineCoreClient):
             enable_input_socket_handover = parallel_config.enable_elastic_ep
 
             self.stats_update_address: str | None = None
+            tensor_queue: Queue | None = None
             if client_addresses:
                 # Engines are managed externally to this client.
                 input_address = client_addresses["input_address"]
                 output_address = client_addresses["output_address"]
                 self.stats_update_address = client_addresses.get("stats_update_address")
+                # Tensor queues passed via client_addresses for multi-API-server case
+                tensor_queue = client_addresses.get("tensor_queue")  # type: ignore[assignment]
                 self.input_socket = self.resources.input_socket = make_zmq_socket(
                     self.ctx,
                     input_address,
@@ -532,7 +534,7 @@ class MPClient(EngineCoreClient):
 
                 with launch_core_engines(
                     vllm_config, executor_class, log_stats, addresses
-                ) as (engine_manager, coordinator, addresses):
+                ) as (engine_manager, coordinator, addresses, tensor_queue):
                     self.resources.coordinator = coordinator
                     self.resources.engine_manager = engine_manager
 
@@ -542,6 +544,17 @@ class MPClient(EngineCoreClient):
                         coordinator.get_stats_publish_address()
                     )
 
+            # Serialization setup with tensor queues for multimodal tensor IPC.
+            tensor_ipc_sender: TensorIpcSender | None = None
+            model_config = getattr(vllm_config, "model_config", None)
+            if model_config is not None and model_config.multimodal_config is not None:
+                mm_tensor_ipc = model_config.multimodal_config.mm_tensor_ipc
+                if mm_tensor_ipc == "torch_shm" and tensor_queue is not None:
+                    tensor_ipc_sender = TensorIpcSender(tensor_queue)
+
+            self.encoder = MsgpackEncoder(oob_tensor_consumer=tensor_ipc_sender)
+            self.decoder = MsgpackDecoder(EngineCoreOutputs)
+
             dp_size = parallel_config.data_parallel_size
             dp_rank = parallel_config.data_parallel_index
             dp_local_size = parallel_config.data_parallel_size_local
diff --git a/vllm/v1/engine/tensor_ipc.py b/vllm/v1/engine/tensor_ipc.py
new file mode 100644
index 000000000..2a8391b17
--- /dev/null
+++ b/vllm/v1/engine/tensor_ipc.py
@@ -0,0 +1,178 @@
+# SPDX-License-Identifier: Apache-2.0
+# SPDX-FileCopyrightText: Copyright contributors to the vLLM project
+
+"""Tensor IPC transport via torch.multiprocessing.Queue.
+
+This module contains the queue-based transport logic for sharing tensors
+between processes (e.g., API server -> engine core). The msgpack layer
+emits/consumes lightweight :class:`TensorIpcData` values, while transport
+state such as request association, handle generation, queue routing, buffering,
+and cleanup lives here.
+"""
+
+import dataclasses
+import uuid
+from collections import defaultdict
+from dataclasses import field
+from multiprocessing.queues import Queue as MPQueue
+from typing import Any
+
+import torch
+
+from vllm.logger import init_logger
+from vllm.v1.serial_utils import OOBTensorConsumer
+
+logger = init_logger(__name__)
+
+TensorIpcQueue = MPQueue
+
+
+@dataclasses.dataclass
+class TensorIpcData:
+    """
+    Data sent via torch.multiprocessing.Queue for zero-copy IPC.
+
+    Contains the tensor_id and the actual tensor. The tensor is
+    shared in memory (GPU or CPU) for efficient inter-process communication.
+    """
+
+    sender_id: str
+    message_id: int
+    tensor_id: int
+    tensor: torch.Tensor
+
+
+class TensorIpcSender(OOBTensorConsumer):
+    """Send-side logic for tensor IPC via torch.multiprocessing.Queue.
+
+    Uses a single queue targeting rank 0 (the only rank that consumes
+    multimodal tensors during TP>1 / PP>1. Note: DP>1 not supported).
+    """
+
+    def __init__(self, queue: TensorIpcQueue):
+        self.queue = queue
+        self._tensor_id_counter = 0
+        self._message_counter = 0
+        self._sender_id = uuid.uuid4().hex[:8]
+
+    def set_target_engine(self, target_engine: int) -> None:
+        if target_engine != 0:
+            raise IndexError(
+                "TensorIpcSender only supports a single queue; "
+                f"got target engine {target_engine}"
+            )
+
+    def new_message(self) -> None:
+        self._message_counter += 1
+        self._tensor_id_counter = 0
+
+    def __call__(self, tensor: torch.Tensor) -> dict[str, Any] | None:
+        """Send tensor via queue, return its handle. Returns None if failed."""
+        try:
+            # Move tensor to shared memory for IPC
+            # This is required for proper inter-process communication
+            if not tensor.is_shared():
+                tensor = tensor.share_memory_()
+
+            metadata = {
+                "sender_id": self._sender_id,
+                "message_id": self._message_counter,
+                "tensor_id": self._tensor_id_counter,
+            }
+
+            self._tensor_id_counter += 1
+
+            ipc_data = TensorIpcData(**metadata, tensor=tensor)  # type: ignore[arg-type]
+
+            # Use a timeout to avoid blocking indefinitely
+            self.queue.put(ipc_data, timeout=10.0)
+
+            logger.debug(
+                "Sent tensor %s for (shape=%s, device=%s) "
+                "via IPC queue (shared memory)",
+                metadata,
+                tensor.shape,
+                tensor.device,
+            )
+
+            return metadata
+        except Exception as e:
+            logger.warning(
+                "Failed to send tensor via IPC queue: %s. "
+                "Falling back to standard serialization.",
+                e,
+            )
+            return None
+
+
+@dataclasses.dataclass
+class _Sender:
+    current_message_id: int = -1
+    tensors: dict[int, dict[int, torch.Tensor]] = field(default_factory=dict)
+
+
+class TensorIpcReceiver:
+    """Receive-side logic for tensor IPC via torch.multiprocessing.Queue.
+
+    Wraps the queue receive logic previously embedded in MsgpackDecoder.
+    """
+
+    def __init__(self, queue: TensorIpcQueue):
+        self.queue = queue
+        self._tensor_buffers = defaultdict[str, _Sender](_Sender)
+
+    def __call__(
+        self, dtype: str, shape: tuple[int, ...], meta: dict[str, Any]
+    ) -> torch.Tensor:
+        """Retrieve a tensor from torch.multiprocessing.Queue.
+
+        Uses a drain-and-buffer pattern: drains all available tensors from
+        the queue, buffering them, until the requested tensor is found.
+        Works for CUDA and CPU.
+        """
+
+        # Create lookup key from handle
+        sender_id: str = meta["sender_id"]
+        message_id: int = meta["message_id"]
+        tensor_id: int = meta["tensor_id"]
+
+        # Drain all available tensors. We save them regardless if this is
+        # the one we're waiting for as they may arrive out of order from
+        # multiple producers.
+        while True:
+            sender = self._tensor_buffers.get(sender_id)
+            if sender is not None:
+                tensors = sender.tensors
+                tensor = tensors.get(message_id, {}).pop(tensor_id, None)
+                if tensor is not None:
+                    if sender.current_message_id != message_id:
+                        while tensors and (mid := next(iter(tensors))) < message_id:
+                            if sender.tensors.pop(mid):
+                                logger.warning(
+                                    "Discarding %d stale tensors from sender %s",
+                                    sender_id,
+                                )
+                        sender.current_message_id = message_id
+                    logger.debug(
+                        "Received tensor %s from sender %s for (shape=%s, device=%s) "
+                        "via IPC queue (shared memory)",
+                        (message_id, tensor_id),
+                        sender_id,
+                        tensor.shape,
+                        tensor.device,
+                    )
+                    return tensor
+
+            ipc_data: TensorIpcData = self.queue.get(timeout=10.0)
+
+            # Store tensor
+            sender = self._tensor_buffers[ipc_data.sender_id]
+            if sender.current_message_id > ipc_data.message_id:
+                logger.warning(
+                    "Ignoring stale tensor from sender %s", ipc_data.sender_id
+                )
+                continue
+
+            sender.tensors.setdefault(ipc_data.message_id, {})[ipc_data.tensor_id] = (
+                ipc_data.tensor
+            )
diff --git a/vllm/v1/engine/utils.py b/vllm/v1/engine/utils.py
index 52c721734..90ec47edb 100644
--- a/vllm/v1/engine/utils.py
+++ b/vllm/v1/engine/utils.py
@@ -10,6 +10,7 @@ from dataclasses import dataclass
 from enum import Enum, auto
 from multiprocessing import Process, connection
 from multiprocessing.process import BaseProcess
+from multiprocessing.queues import Queue
 from typing import TYPE_CHECKING
 from unittest.mock import patch
 
@@ -95,6 +96,7 @@ class CoreEngineProcManager:
         executor_class: type[Executor],
         log_stats: bool,
         client_handshake_address: str | None = None,
+        tensor_queue: Queue | None = None,
     ):
         context = get_mp_context()
         common_kwargs = {
@@ -103,6 +105,7 @@ class CoreEngineProcManager:
             "handshake_address": handshake_address,
             "executor_class": executor_class,
             "log_stats": log_stats,
+            "tensor_queue": tensor_queue,
         }
 
         if client_handshake_address:
@@ -864,6 +867,7 @@ def launch_core_engines(
         CoreEngineProcManager | CoreEngineActorManager | None,
         DPCoordinator | None,
         EngineZmqAddresses,
+        Queue | None,
     ]
 ]:
     """Launch engine and DP coordinator processes as needed."""
@@ -878,6 +882,14 @@ def launch_core_engines(
 
     offline_mode = local_start_index is not None
 
+    # Create a single tensor IPC queue for sharing multimodal tensors between
+    # API servers and engine core. Returns a single queue since we only support
+    # DP=1 for this data flow.
+    tensor_queue: Queue | None = None
+    multimodal_config = vllm_config.model_config.multimodal_config
+    if multimodal_config is not None and multimodal_config.mm_tensor_ipc == "torch_shm":
+        tensor_queue = get_mp_context().Queue()
+
     # Run the DP Coordinator process with rank 0 when in online DP mode.
     # The coordinator is needed for:
     # 1. Internal/hybrid LB: collecting and publishing queue stats for load balancing
@@ -913,7 +925,7 @@ def launch_core_engines(
             log_stats=log_stats,
         )
 
-        yield engine_actor_manager, coordinator, addresses
+        yield engine_actor_manager, coordinator, addresses, tensor_queue
         return
 
     if offline_mode:
@@ -975,11 +987,12 @@ def launch_core_engines(
                 local_engine_count=local_engine_count,
                 start_index=dp_rank,
                 local_start_index=local_start_index or 0,
+                tensor_queue=tensor_queue,
             )
         else:
             local_engine_manager = None
 
-        yield local_engine_manager, coordinator, addresses
+        yield local_engine_manager, coordinator, addresses, tensor_queue
 
         # Now wait for engines to start.
         wait_for_engine_startup(
diff --git a/vllm/v1/serial_utils.py b/vllm/v1/serial_utils.py
index be880bec2..204c8bd0e 100644
--- a/vllm/v1/serial_utils.py
+++ b/vllm/v1/serial_utils.py
@@ -4,6 +4,7 @@
 import dataclasses
 import importlib
 import pickle
+from abc import ABC, abstractmethod
 from collections.abc import Callable, Sequence
 from functools import partial
 from inspect import isclass
@@ -53,6 +54,27 @@ MMF_CLASS_TO_FACTORY: dict[type[BaseMultiModalField], str] = {
 bytestr: TypeAlias = bytes | bytearray | memoryview | zmq.Frame
 
 
+class OOBTensorConsumer(ABC):
+    @abstractmethod
+    def __call__(self, tensor: torch.Tensor) -> dict | None:
+        """
+        Called with tensors for the current message.
+        Returns None to reject the tensor (falls back to regular serialization),
+        otherwise a dict with arbitrary placeholder data to be included
+        in the serialized message.
+        """
+        return None
+
+    @abstractmethod
+    def new_message(self) -> None:
+        """Called at the start of each new encoded message."""
+        pass
+
+
+# dtype, shape, metadata -> tensor
+OOBTensorProvider = Callable[[str, tuple[int, ...], dict], torch.Tensor]
+
+
 def _log_insecure_serialization_warning():
     logger.warning_once(
         "Allowing insecure serialization using pickle due to "
@@ -119,9 +141,16 @@ class MsgpackEncoder:
 
     By default, arrays below 256B are serialized inline Larger will get sent
     via dedicated messages. Note that this is a per-tensor limit.
+
+    When a ``oob_tensor_consumer`` is provided, tensors (CUDA and CPU) will be
+    offered to it for out-of-band handling.
     """
 
-    def __init__(self, size_threshold: int | None = None):
+    def __init__(
+        self,
+        size_threshold: int | None = None,
+        oob_tensor_consumer: OOBTensorConsumer | None = None,
+    ):
         if size_threshold is None:
             size_threshold = envs.VLLM_MSGPACK_ZERO_COPY_THRESHOLD
         self.encoder = msgpack.Encoder(enc_hook=self.enc_hook)
@@ -130,11 +159,14 @@ class MsgpackEncoder:
         # pass custom data to the hook otherwise.
         self.aux_buffers: list[bytestr] | None = None
         self.size_threshold = size_threshold
+        self.oob_tensor_consumer = oob_tensor_consumer
         if envs.VLLM_ALLOW_INSECURE_SERIALIZATION:
             _log_insecure_serialization_warning()
 
     def encode(self, obj: Any) -> Sequence[bytestr]:
         try:
+            if self.oob_tensor_consumer is not None:
+                self.oob_tensor_consumer.new_message()
             self.aux_buffers = bufs = [b""]
             bufs[0] = self.encoder.encode(obj)
             # This `bufs` list allows us to collect direct pointers to backing
@@ -147,6 +179,8 @@ class MsgpackEncoder:
 
     def encode_into(self, obj: Any, buf: bytearray) -> Sequence[bytestr]:
         try:
+            if self.oob_tensor_consumer is not None:
+                self.oob_tensor_consumer.new_message()
             self.aux_buffers = [buf]
             bufs = self.aux_buffers
             self.encoder.encode_into(obj, buf)
@@ -222,17 +256,19 @@ class MsgpackEncoder:
 
     def _encode_tensor(
         self, obj: torch.Tensor
-    ) -> tuple[str, tuple[int, ...], int | memoryview]:
-        assert self.aux_buffers is not None
+    ) -> tuple[str, tuple[int, ...], int | dict | memoryview]:
+        oob_consumer = self.oob_tensor_consumer
         # view the tensor as a contiguous 1D array of bytes
-        arr_data = tensor_data(obj)
-        if obj.nbytes < self.size_threshold:
+        if obj.nbytes < self.size_threshold and obj.is_cpu:
             # Smaller tensors are encoded inline, just like ndarrays.
-            data = msgpack.Ext(CUSTOM_TYPE_RAW_VIEW, arr_data)
+            data = msgpack.Ext(CUSTOM_TYPE_RAW_VIEW, tensor_data(obj))
+        elif oob_consumer is not None and (data := oob_consumer(obj)) is not None:
+            assert isinstance(data, dict)
         else:
             # Otherwise encode index of backing buffer to avoid copy.
+            assert self.aux_buffers is not None
             data = len(self.aux_buffers)
-            self.aux_buffers.append(arr_data)
+            self.aux_buffers.append(tensor_data(obj))
         dtype = str(obj.dtype).removeprefix("torch.")
         return dtype, obj.shape, data
 
@@ -279,9 +315,17 @@ class MsgpackDecoder:
 
     Note that unlike vanilla `msgspec` Decoders, this interface is generally
     not thread-safe when encoding tensors / numpy arrays.
+
+    ``oob_tensor_provider`` must be used when an OOBTensorConsumer is used on the
+    encoder side.
     """
 
-    def __init__(self, t: Any | None = None, share_mem: bool = True):
+    def __init__(
+        self,
+        t: Any | None = None,
+        share_mem: bool = True,
+        oob_tensor_provider: OOBTensorProvider | None = None,
+    ):
         self.share_mem = share_mem
         self.pin_tensors = is_pin_memory_available()
         args = () if t is None else (t,)
@@ -289,6 +333,7 @@ class MsgpackDecoder:
             *args, ext_hook=self.ext_hook, dec_hook=self.dec_hook
         )
         self.aux_buffers: Sequence[bytestr] = ()
+        self.oob_tensor_provider = oob_tensor_provider
         if envs.VLLM_ALLOW_INSECURE_SERIALIZATION:
             _log_insecure_serialization_warning()
 
@@ -353,6 +398,12 @@ class MsgpackDecoder:
 
     def _decode_tensor(self, arr: Any) -> torch.Tensor:
         dtype, shape, data = arr
+        if isinstance(data, dict):
+            assert self.oob_tensor_provider, (
+                "Received OOB tensor but tensor provider is not set"
+            )
+            return self.oob_tensor_provider(dtype, shape, data)
+
         is_aux = isinstance(data, int)
         buffer = self.aux_buffers[data] if is_aux else data
         buffer = buffer if isinstance(buffer, memoryview) else memoryview(buffer)
diff --git a/vllm/v1/utils.py b/vllm/v1/utils.py
index 970465089..3710593db 100644
--- a/vllm/v1/utils.py
+++ b/vllm/v1/utils.py
@@ -10,6 +10,7 @@ from contextlib import AbstractContextManager
 from dataclasses import dataclass
 from multiprocessing import connection
 from multiprocessing.process import BaseProcess
+from multiprocessing.queues import Queue
 from typing import (
     TYPE_CHECKING,
     Any,
@@ -173,6 +174,7 @@ class APIServerProcessManager:
         input_addresses: list[str],
         output_addresses: list[str],
         stats_update_address: str | None = None,
+        tensor_queue: Queue | None = None,
     ):
         """Initialize and start API server worker processes.
 
@@ -185,6 +187,7 @@ class APIServerProcessManager:
             input_addresses: Input addresses for each API server
             output_addresses: Output addresses for each API server
             stats_update_address: Optional stats update address
+            tensor_queue: Optional tensor IPC queue for sharing MM tensors
         """
         self.listen_address = listen_address
         self.sock = sock
@@ -205,6 +208,8 @@ class APIServerProcessManager:
             }
             if stats_update_address is not None:
                 client_config["stats_update_address"] = stats_update_address
+            if tensor_queue is not None:
+                client_config["tensor_queue"] = tensor_queue
 
             proc = spawn_context.Process(
                 target=target_server_fn,
@@ -419,7 +424,7 @@ def tensor_data(tensor: torch.Tensor) -> memoryview:
     Returns:
         A memoryview of the tensor data as uint8.
     """
-    return tensor.flatten().contiguous().view(torch.uint8).numpy().data
+    return tensor.flatten().cpu().contiguous().view(torch.uint8).numpy().data
 
 
 @dataclass