diff --git a/docs_src/tutorial/relationship_attributes/define_relationship_attributes/tutorial001_an_py310.py b/docs_src/tutorial/relationship_attributes/define_relationship_attributes/tutorial001_an_py310.py
new file mode 100644
index 0000000000..a4584836f7
--- /dev/null
+++ b/docs_src/tutorial/relationship_attributes/define_relationship_attributes/tutorial001_an_py310.py
@@ -0,0 +1,70 @@
+from typing import Annotated
+
+from sqlmodel import Field, Relationship, Session, SQLModel, create_engine
+
+
+class Team(SQLModel, table=True):
+    id: Annotated[int | None, Field(primary_key=True)] = None
+    name: Annotated[str, Field(index=True)]
+    headquarters: str
+
+    heroes: Annotated[list["Hero"] | None, Relationship(back_populates="team")] = None
+
+
+class Hero(SQLModel, table=True):
+    id: Annotated[int | None, Field(primary_key=True)] = None
+    name: Annotated[str, Field(index=True)]
+    secret_name: str
+    age: Annotated[int | None, Field(index=True)] = None
+
+    team_id: Annotated[int | None, Field(foreign_key="team.id")] = None
+    team: Annotated[Team | None, Relationship(back_populates="heroes")] = None
+
+
+sqlite_file_name = "database.db"
+sqlite_url = f"sqlite:///{sqlite_file_name}"
+
+engine = create_engine(sqlite_url, echo=True)
+
+
+def create_db_and_tables():
+    SQLModel.metadata.create_all(engine)
+
+
+def create_heroes():
+    with Session(engine) as session:
+        team_preventers = Team(name="Preventers", headquarters="Sharp Tower")
+        team_z_force = Team(name="Z-Force", headquarters="Sister Margaret's Bar")
+
+        hero_deadpond = Hero(
+            name="Deadpond", secret_name="Dive Wilson", team=team_z_force
+        )
+        hero_rusty_man = Hero(
+            name="Rusty-Man", secret_name="Tommy Sharp", age=48, team=team_preventers
+        )
+        hero_spider_boy = Hero(name="Spider-Boy", secret_name="Pedro Parqueador")
+        session.add(hero_deadpond)
+        session.add(hero_rusty_man)
+        session.add(hero_spider_boy)
+        session.commit()
+
+        session.refresh(hero_deadpond)
+        session.refresh(hero_rusty_man)
+        session.refresh(hero_spider_boy)
+
+        print("Created hero:", hero_deadpond)
+        print("Created hero:", hero_rusty_man)
+        print("Created hero:", hero_spider_boy)
+
+        hero_spider_boy.team = team_preventers
+        session.add(hero_spider_boy)
+        session.commit()
+
+
+def main():
+    create_db_and_tables()
+    create_heroes()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/sqlmodel/_compat.py b/sqlmodel/_compat.py
index a220b193f1..841fe5744c 100644
--- a/sqlmodel/_compat.py
+++ b/sqlmodel/_compat.py
@@ -151,6 +151,9 @@ def get_relationship_to(
     elif origin is list:
         use_annotation = get_args(annotation)[0]
 
+    elif origin is Annotated:
+        use_annotation = get_args(annotation)[0]
+
     return get_relationship_to(name=name, rel_info=rel_info, annotation=use_annotation)
 
 
diff --git a/sqlmodel/main.py b/sqlmodel/main.py
index 300031de8b..0d2217267e 100644
--- a/sqlmodel/main.py
+++ b/sqlmodel/main.py
@@ -12,6 +12,7 @@
 from pathlib import Path
 from typing import (
     TYPE_CHECKING,
+    Annotated,
     Any,
     ClassVar,
     Literal,
@@ -19,6 +20,7 @@
     TypeVar,
     Union,
     cast,
+    get_args,
     get_origin,
     overload,
 )
@@ -518,6 +520,16 @@ def Relationship(
     return relationship_info
 
 
+def get_annotated_relationshipinfo(t: Any) -> RelationshipInfo | None:
+    """Get the first RelationshipInfo from Annotated or None if not Annotated with RelationshipInfo."""
+    if get_origin(t) is not Annotated:
+        return None
+    for a in get_args(t):
+        if isinstance(a, RelationshipInfo):
+            return a
+    return None
+
+
 @__dataclass_transform__(kw_only_default=True, field_descriptors=(Field, FieldInfo))
 class SQLModelMetaclass(ModelMetaclass, DeclarativeMeta):
     __sqlmodel_relationships__: dict[str, RelationshipInfo]
@@ -551,7 +563,11 @@ def __new__(
         pydantic_annotations = {}
         relationship_annotations = {}
         for k, v in class_dict.items():
-            if isinstance(v, RelationshipInfo):
+            a = original_annotations.get(k, None)
+            r = get_annotated_relationshipinfo(a)
+            if r is not None:
+                relationships[k] = r
+            elif isinstance(v, RelationshipInfo):
                 relationships[k] = v
             else:
                 dict_for_pydantic[k] = v
@@ -644,6 +660,9 @@ def __init__(
                 origin: Any = get_origin(raw_ann)
                 if origin is Mapped:
                     ann = raw_ann.__args__[0]
+                if origin is Annotated:
+                    ann = get_args(raw_ann)[0]
+                    cls.__annotations__[rel_name] = Mapped[ann]  # type: ignore[valid-type]
                 else:
                     ann = raw_ann
                     # Plain forward references, for models not yet defined, are not
diff --git a/tests/test_tutorial/test_relationship_attributes/test_define_relationship_attributes/test_tutorial001.py b/tests/test_tutorial/test_relationship_attributes/test_define_relationship_attributes/test_tutorial001.py
index c1f5c269be..74e0a754eb 100644
--- a/tests/test_tutorial/test_relationship_attributes/test_define_relationship_attributes/test_tutorial001.py
+++ b/tests/test_tutorial/test_relationship_attributes/test_define_relationship_attributes/test_tutorial001.py
@@ -4,13 +4,14 @@
 import pytest
 from sqlmodel import create_engine
 
-from ....conftest import PrintMock, needs_py310
+from ....conftest import PrintMock
 
 
 @pytest.fixture(
     name="mod",
     params=[
-        pytest.param("tutorial001_py310", marks=needs_py310),
+        pytest.param("tutorial001_py310"),
+        pytest.param("tutorial001_an_py310"),
     ],
 )
 def get_module(request: pytest.FixtureRequest) -> ModuleType: