diff --git a/awscli/clidocs.py b/awscli/clidocs.py
index 0b80757050ce..1341e7b75363 100644
--- a/awscli/clidocs.py
+++ b/awscli/clidocs.py
@@ -248,21 +248,23 @@ def _document_nested_structure(self, model, doc):
         """Recursively documents parameters in nested structures"""
         member_type_name = getattr(model, 'type_name', None)
         if member_type_name == 'structure':
+            required_members = model.metadata.get('required', [])
             for member_name, member_shape in model.members.items():
+                is_required = member_name in required_members
                 self._doc_member(
-                    doc, member_name, member_shape, stack=[model.name]
+                    doc, member_name, member_shape, stack=[model.name], required=is_required
                 )
         elif member_type_name == 'list':
-            self._doc_member(doc, '', model.member, stack=[model.name])
+            self._doc_member(doc, '', model.member, stack=[model.name], required=False)
         elif member_type_name == 'map':
             key_shape = model.key
             key_name = key_shape.serialization.get('name', 'key')
-            self._doc_member(doc, key_name, key_shape, stack=[model.name])
+            self._doc_member(doc, key_name, key_shape, stack=[model.name], required=False)
             value_shape = model.value
             value_name = value_shape.serialization.get('name', 'value')
-            self._doc_member(doc, value_name, value_shape, stack=[model.name])
+            self._doc_member(doc, value_name, value_shape, stack=[model.name], required=False)
 
-    def _doc_member(self, doc, member_name, member_shape, stack):
+    def _doc_member(self, doc, member_name, member_shape, stack, required=False):
         if member_shape.name in stack:
             # Document the recursion once, otherwise just
             # note the fact that it's recursive and return.
@@ -272,11 +274,11 @@ def _doc_member(self, doc, member_name, member_shape, stack):
                 return
         stack.append(member_shape.name)
         try:
-            self._do_doc_member(doc, member_name, member_shape, stack)
+            self._do_doc_member(doc, member_name, member_shape, stack, required)
         finally:
             stack.pop()
 
-    def _do_doc_member(self, doc, member_name, member_shape, stack):
+    def _do_doc_member(self, doc, member_name, member_shape, stack, required=False):
         docs = member_shape.documentation
         type_name = self._get_argument_type_name(
             member_shape, member_shape.type_name
@@ -290,22 +292,29 @@ def _do_doc_member(self, doc, member_name, member_shape, stack):
         doc.include_doc_string(docs)
         if is_tagged_union_type(member_shape):
             self._add_tagged_union_note(member_shape, doc)
+
+        if required:
+            doc.style.new_paragraph()
+            doc.write('This parameter is required.')
+
         self._document_enums(member_shape, doc)
         self._document_constraints(member_shape, doc)
         doc.style.new_paragraph()
         member_type_name = member_shape.type_name
         if member_type_name == 'structure':
+            required_members = member_shape.metadata.get('required', [])
             for sub_name, sub_shape in member_shape.members.items():
-                self._doc_member(doc, sub_name, sub_shape, stack)
+                sub_required = sub_name in required_members
+                self._doc_member(doc, sub_name, sub_shape, stack, required=sub_required)
         elif member_type_name == 'map':
             key_shape = member_shape.key
             key_name = key_shape.serialization.get('name', 'key')
-            self._doc_member(doc, key_name, key_shape, stack)
+            self._doc_member(doc, key_name, key_shape, stack, required=False)
             value_shape = member_shape.value
             value_name = value_shape.serialization.get('name', 'value')
-            self._doc_member(doc, value_name, value_shape, stack)
+            self._doc_member(doc, value_name, value_shape, stack, required=False)
         elif member_type_name == 'list':
-            self._doc_member(doc, '', member_shape.member, stack)
+            self._doc_member(doc, '', member_shape.member, stack, required=False)
         doc.style.dedent()
         doc.style.new_paragraph()
 
diff --git a/tests/unit/test_clidocs.py b/tests/unit/test_clidocs.py
index 7f8adbe48ae9..069fef7347fa 100644
--- a/tests/unit/test_clidocs.py
+++ b/tests/unit/test_clidocs.py
@@ -499,6 +499,36 @@ def test_tagged_union_comes_after_docstring_output(self):
         rendered = help_command.doc.getvalue().decode('utf-8')
         self.assertRegex(rendered, r'FooBar[\s\S]*Tagged Union')
 
+    def test_documents_required_parameters(self):
+        """Tests that required parameters are correctly documented."""
+        shape_map = {
+            'ParentStructure': {
+                'type': 'structure',
+                'required': ['RequiredParameter'],
+                'members': {
+                    'RequiredParameter': {'shape': 'StringMember'},
+                    'OptionalParameter': {'shape': 'StringMember'},
+                }
+            },
+            'StringMember': {'type': 'string'},
+        }
+
+        resolver = ShapeResolver(shape_map)
+        parent_shape = StructureShape(
+            'ParentStructure',
+            shape_map['ParentStructure'],
+            resolver
+        )
+
+        rendered = self.get_help_docs_for_argument(parent_shape)
+
+        required_index = rendered.find('RequiredParameter -> (string)')
+        optional_index = rendered.find('OptionalParameter -> (string)')
+
+        self.assertIn('This parameter is required', rendered[required_index:optional_index])
+        optional_text = rendered[optional_index:]
+        self.assertNotIn('This parameter is required', optional_text)
+
     def test_documents_constraints(self):
         shape = {'type': 'string', 'min': 0, 'max': 10, 'pattern': '.*'}
         shape = StringShape('ConstrainedArg', shape)