diff --git a/parse.y b/parse.y
index 909a4ec3b1..1241338f08 100644
--- a/parse.y
+++ b/parse.y
@@ -1629,6 +1629,52 @@ command_asgn	: lhs '=' lex_ctxt command_rhs
 		    /*% %*/
 		    /*% ripper: opassign!(field!($1, ID2VAL(idCOLON2), $3), $4, $6) %*/
 		    }
+		| defn_head f_opt_paren_args '=' command
+		    {
+			endless_method_name(p, $<node>1, &@1);
+			restore_defun(p, $<node>1->nd_defn);
+		    /*%%%*/
+			$$ = set_defun_body(p, $1, $2, $4, &@$);
+		    /*% %*/
+		    /*% ripper: def!(get_value($1), $2, $4) %*/
+			local_pop(p);
+		    }
+		| defn_head f_opt_paren_args '=' command modifier_rescue arg
+		    {
+			endless_method_name(p, $<node>1, &@1);
+			restore_defun(p, $<node>1->nd_defn);
+		    /*%%%*/
+			$4 = rescued_expr(p, $4, $6, &@4, &@5, &@6);
+			$$ = set_defun_body(p, $1, $2, $4, &@$);
+		    /*% %*/
+		    /*% ripper: def!(get_value($1), $2, rescue_mod!($4, $6)) %*/
+			local_pop(p);
+		    }
+		| defs_head f_opt_paren_args '=' command
+		    {
+			endless_method_name(p, $<node>1, &@1);
+			restore_defun(p, $<node>1->nd_defn);
+		    /*%%%*/
+			$$ = set_defun_body(p, $1, $2, $4, &@$);
+		    /*%
+			$1 = get_value($1);
+		    %*/
+		    /*% ripper: defs!(AREF($1, 0), AREF($1, 1), AREF($1, 2), $2, $4) %*/
+			local_pop(p);
+		    }
+		| defs_head f_opt_paren_args '=' command modifier_rescue arg
+		    {
+			endless_method_name(p, $<node>1, &@1);
+			restore_defun(p, $<node>1->nd_defn);
+		    /*%%%*/
+			$4 = rescued_expr(p, $4, $6, &@4, &@5, &@6);
+			$$ = set_defun_body(p, $1, $2, $4, &@$);
+		    /*%
+			$1 = get_value($1);
+		    %*/
+		    /*% ripper: defs!(AREF($1, 0), AREF($1, 1), AREF($1, 2), $2, rescue_mod!($4, $6)) %*/
+			local_pop(p);
+		    }
 		| backref tOP_ASGN lex_ctxt command_rhs
 		    {
 		    /*%%%*/
diff --git a/test/ruby/test_syntax.rb b/test/ruby/test_syntax.rb
index e289eea2c2..3c84cbb2e2 100644
--- a/test/ruby/test_syntax.rb
+++ b/test/ruby/test_syntax.rb
@@ -1462,6 +1462,31 @@ def test_methoddef_endless
     assert_syntax_error('def obj.foo=() = 42 rescue nil', error)
   end
 
+  def test_methoddef_endless_command
+    assert_valid_syntax('def foo = puts "Hello"')
+    assert_valid_syntax('def foo() = puts "Hello"')
+    assert_valid_syntax('def foo(x) = puts x')
+    assert_valid_syntax('def obj.foo = puts "Hello"')
+    assert_valid_syntax('def obj.foo() = puts "Hello"')
+    assert_valid_syntax('def obj.foo(x) = puts x')
+    k = Class.new do
+      class_eval('def rescued(x) = raise "to be caught" rescue "instance #{x}"')
+      class_eval('def self.rescued(x) = raise "to be caught" rescue "class #{x}"')
+    end
+    assert_equal("class ok", k.rescued("ok"))
+    assert_equal("instance ok", k.new.rescued("ok"))
+
+    # Current technical limitation: cannot prepend "private" or something for command endless def
+    error = /syntax error, unexpected string literal/
+    error2 = /syntax error, unexpected local variable or method/
+    assert_syntax_error('private def foo = puts "Hello"', error)
+    assert_syntax_error('private def foo() = puts "Hello"', error)
+    assert_syntax_error('private def foo(x) = puts x', error2)
+    assert_syntax_error('private def obj.foo = puts "Hello"', error)
+    assert_syntax_error('private def obj.foo() = puts "Hello"', error)
+    assert_syntax_error('private def obj.foo(x) = puts x', error2)
+  end
+
   def test_methoddef_in_cond
     assert_valid_syntax('while def foo; tap do end; end; break; end')
     assert_valid_syntax('while def foo a = tap do end; end; break; end')