diff --git a/src/rviz/default_plugin/camera_display.cpp b/src/rviz/default_plugin/camera_display.cpp
index 28b434ec5..e092e196a 100644
--- a/src/rviz/default_plugin/camera_display.cpp
+++ b/src/rviz/default_plugin/camera_display.cpp
@@ -51,6 +51,7 @@
 #include <rviz/properties/float_property.h>
 #include <rviz/properties/int_property.h>
 #include <rviz/properties/ros_topic_property.h>
+#include <rviz/panel_dock_widget.h>
 #include <rviz/render_panel.h>
 #include <rviz/uniform_string_stream.h>
 #include <rviz/validate_floats.h>
@@ -192,6 +193,7 @@ void CameraDisplay::onInitialize()
   render_panel_->initialize(context_->getSceneManager(), context_);
 
   setAssociatedWidget(render_panel_);
+  getAssociatedWidgetPanel()->addMaximizeButton();
 
   render_panel_->setAutoRender(false);
   render_panel_->setOverlaysEnabled(false);
diff --git a/src/rviz/default_plugin/image_display.cpp b/src/rviz/default_plugin/image_display.cpp
index 8efe0e171..8cf5b1fe0 100644
--- a/src/rviz/default_plugin/image_display.cpp
+++ b/src/rviz/default_plugin/image_display.cpp
@@ -44,6 +44,7 @@
 
 #include <rviz/display_context.h>
 #include <rviz/frame_manager.h>
+#include <rviz/panel_dock_widget.h>
 #include <rviz/ogre_helpers/compatibility.h>
 #include <rviz/render_panel.h>
 #include <rviz/validate_floats.h>
@@ -130,6 +131,7 @@ void ImageDisplay::onInitialize()
   render_panel_->initialize(img_scene_manager_, context_);
 
   setAssociatedWidget(render_panel_);
+  getAssociatedWidgetPanel()->addMaximizeButton();
 
   render_panel_->setAutoRender(false);
   render_panel_->setOverlaysEnabled(false);
diff --git a/src/rviz/panel_dock_widget.cpp b/src/rviz/panel_dock_widget.cpp
index 82fb8352d..f166262fe 100644
--- a/src/rviz/panel_dock_widget.cpp
+++ b/src/rviz/panel_dock_widget.cpp
@@ -124,6 +124,30 @@ void PanelDockWidget::setContentWidget(QWidget* child)
   }
 }
 
+void PanelDockWidget::addMaximizeButton()
+{
+  QToolButton* button = new QToolButton();
+  button->setIcon(QIcon::fromTheme("view-fullscreen"));
+  button->setIconSize(QSize(10, 10));
+  button->setToolTip("Toggle maximize");
+  connect(button, &QToolButton::clicked, this, &PanelDockWidget::toggleMaximized);
+  dynamic_cast<QHBoxLayout*>(titleBarWidget()->layout())->insertWidget(2, button);
+}
+
+void PanelDockWidget::toggleMaximized()
+{
+  if (windowState() & Qt::WindowMaximized)
+  {
+    setFloating(false);
+    showNormal();
+  }
+  else
+  {
+    setFloating(true);
+    showMaximized();
+  }
+}
+
 void PanelDockWidget::closeEvent(QCloseEvent* /*event*/)
 {
   Q_EMIT closed();
diff --git a/src/rviz/panel_dock_widget.h b/src/rviz/panel_dock_widget.h
index 6282d9f93..f6f27c13a 100644
--- a/src/rviz/panel_dock_widget.h
+++ b/src/rviz/panel_dock_widget.h
@@ -54,6 +54,7 @@ class RVIZ_EXPORT PanelDockWidget : public QDockWidget
   void setCollapsed(bool collapsed);
 
   void setIcon(const QIcon& icon);
+  void addMaximizeButton();
 
   virtual void save(Config config);
   virtual void load(const Config& config);
@@ -67,6 +68,7 @@ class RVIZ_EXPORT PanelDockWidget : public QDockWidget
 public Q_SLOTS:
 
   void setWindowTitle(const QString& title);
+  void toggleMaximized();
 
   /** @ Override the visibility of the widget. **/
   virtual void overrideVisibility(bool hide);