diff --git a/src/wp-includes/nav-menu.php b/src/wp-includes/nav-menu.php
index ed49892ac0eb6..96f3343f0758b 100644
--- a/src/wp-includes/nav-menu.php
+++ b/src/wp-includes/nav-menu.php
@@ -148,7 +148,18 @@ function register_nav_menu( $location, $description ) {
  */
 function get_registered_nav_menus() {
 	global $_wp_registered_nav_menus;
-	return $_wp_registered_nav_menus ?? array();
+
+	$menus = $_wp_registered_nav_menus ?? array();
+
+	/**
+	 * Filters the list of registered navigation menu locations.
+	 *
+	 * @since 7.1.0
+	 *
+	 * @param string[] $menus Associative array of registered navigation menu descriptions
+	 *                        keyed by their location. If none are registered, an empty array.
+	 */
+	return apply_filters( 'wp_nav_menus_registered', $menus );
 }
 
 /**
diff --git a/tests/phpunit/tests/menu/registeredNavMenus.php b/tests/phpunit/tests/menu/registeredNavMenus.php
new file mode 100644
index 0000000000000..802d7afa92d73
--- /dev/null
+++ b/tests/phpunit/tests/menu/registeredNavMenus.php
@@ -0,0 +1,74 @@
+<?php
+
+/**
+ * Tests for the `wp_nav_menus_registered` filter.
+ *
+ * @group menu
+ * @covers ::get_registered_nav_menus
+ */
+class Tests_Menu_RegisteredNavMenus extends WP_UnitTestCase {
+
+	/**
+	 * Tear down after each test.
+	 */
+	public function tear_down() {
+		remove_all_filters( 'wp_nav_menus_registered' );
+		parent::tear_down();
+	}
+
+	/**
+	 * Tests that `get_registered_nav_menus()` applies the `wp_nav_menus_registered` filter.
+	 *
+	 * @ticket 31391
+	 */
+	public function test_filter_is_applied() {
+		register_nav_menus(
+			array(
+				'primary' => 'Primary',
+				'footer'  => 'Footer',
+			)
+		);
+
+		add_filter(
+			'wp_nav_menus_registered',
+			static function ( $locations ) {
+				unset( $locations['footer'] );
+				return $locations;
+			}
+		);
+
+		$locations = get_registered_nav_menus();
+
+		$this->assertArrayHasKey( 'primary', $locations, 'Primary location should be present.' );
+		$this->assertArrayNotHasKey( 'footer', $locations, 'Footer location should have been removed by the filter.' );
+	}
+
+	/**
+	 * Tests that the `wp_nav_menus_registered` filter can reorder menu locations.
+	 *
+	 * @ticket 31391
+	 */
+	public function test_filter_can_reorder_locations() {
+		register_nav_menus(
+			array(
+				'primary'   => 'Primary',
+				'secondary' => 'Secondary',
+				'footer'    => 'Footer',
+			)
+		);
+
+		add_filter(
+			'wp_nav_menus_registered',
+			static function ( $locations ) {
+				$footer = array( 'footer' => $locations['footer'] );
+				unset( $locations['footer'] );
+				return array_merge( $footer, $locations );
+			}
+		);
+
+		$locations = get_registered_nav_menus();
+		$keys      = array_keys( $locations );
+
+		$this->assertSame( 'footer', $keys[0], 'Footer location should be first after reordering.' );
+	}
+}