diff --git a/devenv/dev-dashboards/panel-timeline/timeline-modes.json b/devenv/dev-dashboards/panel-timeline/timeline-modes.json
index b9d0a2ba597..7b8184df53c 100644
--- a/devenv/dev-dashboards/panel-timeline/timeline-modes.json
+++ b/devenv/dev-dashboards/panel-timeline/timeline-modes.json
@@ -15,6 +15,7 @@
   "editable": true,
   "gnetId": null,
   "graphTooltip": 0,
+  "id": 329,
   "links": [],
   "panels": [
     {
@@ -53,6 +54,7 @@
       },
       "id": 8,
       "options": {
+        "alignValue": "left",
         "colWidth": 0.9,
         "legend": {
           "calcs": [],
@@ -230,6 +232,7 @@
       },
       "id": 9,
       "options": {
+        "alignValue": "left",
         "colWidth": 0.9,
         "legend": {
           "calcs": [],
@@ -268,7 +271,7 @@
       "fieldConfig": {
         "defaults": {
           "color": {
-            "mode": "palette-classic"
+            "mode": "thresholds"
           },
           "custom": {
             "fillOpacity": 70,
@@ -276,12 +279,16 @@
           },
           "mappings": [],
           "thresholds": {
-            "mode": "absolute",
+            "mode": "percentage",
             "steps": [
               {
                 "color": "green",
                 "value": null
               },
+              {
+                "color": "#EAB839",
+                "value": 60
+              },
               {
                 "color": "red",
                 "value": 80
@@ -364,5 +371,5 @@
   "timezone": "utc",
   "title": "Timeline Modes",
   "uid": "mIJjFy8Gz",
-  "version": 21
-}
\ No newline at end of file
+  "version": 12
+}
diff --git a/packages/grafana-data/src/types/fieldColor.ts b/packages/grafana-data/src/types/fieldColor.ts
index 341cca53beb..4243f4bed5c 100644
--- a/packages/grafana-data/src/types/fieldColor.ts
+++ b/packages/grafana-data/src/types/fieldColor.ts
@@ -5,6 +5,7 @@ export enum FieldColorModeId {
   Thresholds = 'thresholds',
   PaletteClassic = 'palette-classic',
   PaletteSaturated = 'palette-saturated',
+  ContinuousGrYlRd = 'continuous-GrYlRd',
   Fixed = 'fixed',
 }
 
diff --git a/public/app/plugins/panel/state-timeline/StateTimelinePanel.tsx b/public/app/plugins/panel/state-timeline/StateTimelinePanel.tsx
index 6989cdc6d0d..eae9035421b 100755
--- a/public/app/plugins/panel/state-timeline/StateTimelinePanel.tsx
+++ b/public/app/plugins/panel/state-timeline/StateTimelinePanel.tsx
@@ -3,7 +3,7 @@ import { PanelProps } from '@grafana/data';
 import { useTheme2, ZoomPlugin } from '@grafana/ui';
 import { TimelineMode, TimelineOptions } from './types';
 import { TimelineChart } from './TimelineChart';
-import { prepareTimelineFields } from './utils';
+import { prepareTimelineFields, prepareTimelineLegendItems } from './utils';
 
 interface TimelinePanelProps extends PanelProps<TimelineOptions> {}
 
@@ -26,6 +26,8 @@ export const StateTimelinePanel: React.FC<TimelinePanelProps> = ({
     options.mergeValues,
   ]);
 
+  const legendItems = useMemo(() => prepareTimelineLegendItems(frames, options.legend), [frames, options.legend]);
+
   if (!frames || warn) {
     return (
       <div className="panel-empty">
@@ -43,6 +45,7 @@ export const StateTimelinePanel: React.FC<TimelinePanelProps> = ({
       timeZone={timeZone}
       width={width}
       height={height}
+      legendItems={legendItems}
       {...options}
       // hardcoded
       mode={TimelineMode.Changes}
diff --git a/public/app/plugins/panel/state-timeline/TimelineChart.tsx b/public/app/plugins/panel/state-timeline/TimelineChart.tsx
index 0d729eb4dcc..3fb00b81571 100755
--- a/public/app/plugins/panel/state-timeline/TimelineChart.tsx
+++ b/public/app/plugins/panel/state-timeline/TimelineChart.tsx
@@ -1,5 +1,16 @@
 import React from 'react';
-import { PanelContext, PanelContextRoot, GraphNG, GraphNGProps, BarValueVisibility } from '@grafana/ui';
+import {
+  PanelContext,
+  PanelContextRoot,
+  GraphNG,
+  GraphNGProps,
+  BarValueVisibility,
+  LegendDisplayMode,
+  UPlotConfigBuilder,
+  VizLayout,
+  VizLegend,
+  VizLegendItem,
+} from '@grafana/ui';
 import { DataFrame, FieldType, TimeRange } from '@grafana/data';
 import { preparePlotConfigBuilder } from './utils';
 import { TimelineMode, TimelineValueAlignment } from './types';
@@ -13,6 +24,7 @@ export interface TimelineProps extends Omit<GraphNGProps, 'prepConfig' | 'propsT
   showValue: BarValueVisibility;
   alignValue?: TimelineValueAlignment;
   colWidth?: number;
+  legendItems?: VizLegendItem[];
 }
 
 const propsToDiff = ['rowHeight', 'colWidth', 'showValue', 'mergeValues', 'alignValue'];
@@ -33,7 +45,19 @@ export class TimelineChart extends React.Component<TimelineProps> {
     });
   };
 
-  renderLegend = () => null;
+  renderLegend = (config: UPlotConfigBuilder) => {
+    const { legend, legendItems } = this.props;
+
+    if (!config || !legendItems || !legend || legend.displayMode === LegendDisplayMode.Hidden) {
+      return null;
+    }
+
+    return (
+      <VizLayout.Legend placement={legend.placement}>
+        <VizLegend placement={legend.placement} items={legendItems} displayMode={legend.displayMode} />
+      </VizLayout.Legend>
+    );
+  };
 
   render() {
     return (
diff --git a/public/app/plugins/panel/state-timeline/module.tsx b/public/app/plugins/panel/state-timeline/module.tsx
index e78bdf0a703..00898b28886 100755
--- a/public/app/plugins/panel/state-timeline/module.tsx
+++ b/public/app/plugins/panel/state-timeline/module.tsx
@@ -2,6 +2,7 @@ import { FieldColorModeId, FieldConfigProperty, PanelPlugin } from '@grafana/dat
 import { StateTimelinePanel } from './StateTimelinePanel';
 import { TimelineOptions, TimelineFieldConfig, defaultPanelOptions, defaultTimelineFieldConfig } from './types';
 import { BarValueVisibility } from '@grafana/ui';
+import { addLegendOptions } from '@grafana/ui/src/options/builder';
 
 export const plugin = new PanelPlugin<TimelineOptions, TimelineFieldConfig>(StateTimelinePanel)
   .useFieldConfig({
@@ -11,7 +12,7 @@ export const plugin = new PanelPlugin<TimelineOptions, TimelineFieldConfig>(Stat
           byValueSupport: true,
         },
         defaultValue: {
-          mode: FieldColorModeId.PaletteClassic,
+          mode: FieldColorModeId.ContinuousGrYlRd,
         },
       },
     },
@@ -81,5 +82,5 @@ export const plugin = new PanelPlugin<TimelineOptions, TimelineFieldConfig>(Stat
         defaultValue: defaultPanelOptions.rowHeight,
       });
 
-    //addLegendOptions(builder);
+    addLegendOptions(builder, false);
   });
diff --git a/public/app/plugins/panel/state-timeline/plugin.json b/public/app/plugins/panel/state-timeline/plugin.json
index 82a6e07ed9e..9710a2c8d36 100755
--- a/public/app/plugins/panel/state-timeline/plugin.json
+++ b/public/app/plugins/panel/state-timeline/plugin.json
@@ -3,7 +3,7 @@
   "name": "State timeline",
   "id": "state-timeline",
 
-  "state": "alpha",
+  "state": "beta",
 
   "info": {
     "description": "State changes and durations",
diff --git a/public/app/plugins/panel/state-timeline/types.ts b/public/app/plugins/panel/state-timeline/types.ts
index 4c4e5d6bd46..fc82e4c73a5 100644
--- a/public/app/plugins/panel/state-timeline/types.ts
+++ b/public/app/plugins/panel/state-timeline/types.ts
@@ -1,12 +1,11 @@
-import { VizLegendOptions, HideableFieldConfig, BarValueVisibility } from '@grafana/ui';
+import { HideableFieldConfig, BarValueVisibility, OptionsWithLegend } from '@grafana/ui';
 
 /**
  * @alpha
  */
-export interface TimelineOptions {
+export interface TimelineOptions extends OptionsWithLegend {
   mode: TimelineMode; // not in the saved model!
 
-  legend: VizLegendOptions;
   showValue: BarValueVisibility;
   rowHeight: number;
 
diff --git a/public/app/plugins/panel/state-timeline/utils.ts b/public/app/plugins/panel/state-timeline/utils.ts
index f7f11282e2d..cb207894793 100644
--- a/public/app/plugins/panel/state-timeline/utils.ts
+++ b/public/app/plugins/panel/state-timeline/utils.ts
@@ -10,8 +10,18 @@ import {
   FALLBACK_COLOR,
   FieldType,
   ArrayVector,
+  FieldColorModeId,
+  getValueFormat,
+  ThresholdsMode,
 } from '@grafana/data';
-import { UPlotConfigBuilder, FIXED_UNIT, SeriesVisibilityChangeMode, UPlotConfigPrepFn } from '@grafana/ui';
+import {
+  UPlotConfigBuilder,
+  FIXED_UNIT,
+  SeriesVisibilityChangeMode,
+  UPlotConfigPrepFn,
+  VizLegendOptions,
+  VizLegendItem,
+} from '@grafana/ui';
 import { TimelineCoreOptions, getConfig } from './timeline';
 import { AxisPlacement, ScaleDirection, ScaleOrientation } from '@grafana/ui/src/components/uPlot/config';
 import { measureText } from '@grafana/ui/src/utils/measureText';
@@ -291,3 +301,77 @@ export function prepareTimelineFields(
   }
   return { frames };
 }
+
+export function prepareTimelineLegendItems(
+  frames: DataFrame[] | undefined,
+  options: VizLegendOptions
+): VizLegendItem[] | undefined {
+  if (!frames || options.displayMode === 'hidden') {
+    return undefined;
+  }
+
+  const fields = allNonTimeFields(frames);
+  if (!fields.length) {
+    return undefined;
+  }
+
+  const items: VizLegendItem[] = [];
+  const first = fields[0].config;
+  const colorMode = first.color?.mode ?? FieldColorModeId.Fixed;
+
+  // If thresholds are enabled show each step in the legend
+  if (colorMode === FieldColorModeId.Thresholds && first.thresholds?.steps) {
+    const steps = first.thresholds.steps;
+    const disp = getValueFormat(
+      first.thresholds.mode === ThresholdsMode.Percentage ? 'percent' : first.unit ?? 'fixed'
+    );
+    const fmt = (v: number) => formattedValueToString(disp(v));
+    for (let i = 1; i <= steps.length; i++) {
+      const step = steps[i - 1];
+      items.push({
+        label: i === 1 ? `< ${fmt(steps[i].value)}` : `${fmt(step.value)}+`,
+        color: step.color,
+        yAxis: 1,
+      });
+    }
+    return items;
+  }
+
+  // If thresholds are enabled show each step in the legend
+  if (colorMode.startsWith('continuous')) {
+    return undefined; // eventually a color bar
+  }
+
+  let stateColors: Map<string, string | undefined> = new Map();
+
+  fields.forEach((field) => {
+    field.values.toArray().forEach((v) => {
+      let state = field.display!(v);
+      stateColors.set(state.text, state.color!);
+    });
+  });
+
+  stateColors.forEach((color, label) => {
+    if (label.length > 0) {
+      items.push({
+        label: label!,
+        color,
+        yAxis: 1,
+      });
+    }
+  });
+
+  return items;
+}
+
+function allNonTimeFields(frames: DataFrame[]): Field[] {
+  const fields: Field[] = [];
+  for (const frame of frames) {
+    for (const field of frame.fields) {
+      if (field.type !== FieldType.time) {
+        fields.push(field);
+      }
+    }
+  }
+  return fields;
+}
diff --git a/public/app/plugins/panel/status-grid/StatusGridPanel.tsx b/public/app/plugins/panel/status-grid/StatusGridPanel.tsx
index e91cb44410a..a4de9f152fd 100755
--- a/public/app/plugins/panel/status-grid/StatusGridPanel.tsx
+++ b/public/app/plugins/panel/status-grid/StatusGridPanel.tsx
@@ -1,9 +1,10 @@
-import React from 'react';
+import React, { useMemo } from 'react';
 import { PanelProps } from '@grafana/data';
 import { useTheme2, ZoomPlugin } from '@grafana/ui';
 import { StatusPanelOptions } from './types';
 import { TimelineChart } from '../state-timeline/TimelineChart';
 import { TimelineMode } from '../state-timeline/types';
+import { prepareTimelineFields, prepareTimelineLegendItems } from '../state-timeline/utils';
 
 interface TimelinePanelProps extends PanelProps<StatusPanelOptions> {}
 
@@ -21,10 +22,14 @@ export const StatusGridPanel: React.FC<TimelinePanelProps> = ({
 }) => {
   const theme = useTheme2();
 
-  if (!data || !data.series?.length) {
+  const { frames, warn } = useMemo(() => prepareTimelineFields(data?.series, false), [data]);
+
+  const legendItems = useMemo(() => prepareTimelineLegendItems(frames, options.legend), [frames, options.legend]);
+
+  if (!frames || warn) {
     return (
       <div className="panel-empty">
-        <p>No data found in response</p>
+        <p>{warn ?? 'No data found in response'}</p>
       </div>
     );
   }
@@ -32,12 +37,13 @@ export const StatusGridPanel: React.FC<TimelinePanelProps> = ({
   return (
     <TimelineChart
       theme={theme}
-      frames={data.series}
+      frames={frames}
       structureRev={data.structureRev}
       timeRange={timeRange}
       timeZone={timeZone}
       width={width}
       height={height}
+      legendItems={legendItems}
       {...options}
       // hardcoded
       mode={TimelineMode.Samples}
diff --git a/public/app/plugins/panel/status-grid/module.tsx b/public/app/plugins/panel/status-grid/module.tsx
index 48a9fd3bc60..5c679493fc7 100755
--- a/public/app/plugins/panel/status-grid/module.tsx
+++ b/public/app/plugins/panel/status-grid/module.tsx
@@ -2,6 +2,7 @@ import { FieldColorModeId, FieldConfigProperty, PanelPlugin } from '@grafana/dat
 import { StatusGridPanel } from './StatusGridPanel';
 import { StatusPanelOptions, StatusFieldConfig, defaultStatusFieldConfig } from './types';
 import { BarValueVisibility } from '@grafana/ui';
+import { addLegendOptions } from '@grafana/ui/src/options/builder';
 
 export const plugin = new PanelPlugin<StatusPanelOptions, StatusFieldConfig>(StatusGridPanel)
   .useFieldConfig({
@@ -11,7 +12,7 @@ export const plugin = new PanelPlugin<StatusPanelOptions, StatusFieldConfig>(Sta
           byValueSupport: true,
         },
         defaultValue: {
-          mode: FieldColorModeId.PaletteClassic,
+          mode: FieldColorModeId.Thresholds,
         },
       },
     },
@@ -74,5 +75,5 @@ export const plugin = new PanelPlugin<StatusPanelOptions, StatusFieldConfig>(Sta
         },
       });
 
-    //addLegendOptions(builder);
+    addLegendOptions(builder, false);
   });
diff --git a/public/app/plugins/panel/status-grid/plugin.json b/public/app/plugins/panel/status-grid/plugin.json
index 08046fa495e..175533e63e2 100755
--- a/public/app/plugins/panel/status-grid/plugin.json
+++ b/public/app/plugins/panel/status-grid/plugin.json
@@ -3,7 +3,7 @@
   "name": "Status grid",
   "id": "status-grid",
 
-  "state": "alpha",
+  "state": "beta",
 
   "info": {
     "description": "Periodic status history",