diff --git a/bin/pegjs b/bin/pegjs
index e75de42..9c789a1 100755
--- a/bin/pegjs
+++ b/bin/pegjs
@@ -183,8 +183,8 @@ while (args.length > 0 && isOption(args[0])) {
       if (args.length === 0) {
         abort("Missing parameter of the --format option.");
       }
-      if (args[0] !== "amd" && args[0] !== "commonjs" && args[0] !== "globals" && args[0] !== "umd") {
-        abort("Module format must be one of \"amd\", \"commonjs\", \"globals\", and \"umd\".");
+      if (args[0] !== "amd" && args[0] !== "commonjs" && args[0] !== "esm" && args[0] !== "globals" && args[0] !== "umd") {
+        abort("Module format must be one of \"amd\", \"commonjs\", \"esm\", \"globals\", and \"umd\".");
       }
       options.format = args[0];
       break;
@@ -253,7 +253,7 @@ while (args.length > 0 && isOption(args[0])) {
 }
 
 if (Object.keys(options.dependencies).length > 0) {
-  if (options.format !== "amd" && options.format !== "commonjs" && options.format !== "umd") {
+  if (options.format !== "amd" && options.format !== "commonjs" && options.format !== "esm" && options.format !== "umd") {
     abort("Can't use the -d/--dependency option with the \"" + options.format + "\" module format.");
   }
 }
diff --git a/lib/compiler/passes/generate-js.js b/lib/compiler/passes/generate-js.js
index 4dd0295..a54494b 100644
--- a/lib/compiler/passes/generate-js.js
+++ b/lib/compiler/passes/generate-js.js
@@ -1227,6 +1227,23 @@ function generateJS(ast, options) {
         ].join("\n");
     }
 
+    function generateParserExports() {
+      return options.trace
+        ? [
+          "{",
+          "  peg$SyntaxError as SyntaxError,",
+          "  peg$DefaultTracer as DefaultTracer,",
+          "  peg$parse as parse",
+          "}"
+        ].join("\n")
+        : [
+          "{",
+          "  peg$SyntaxError as SyntaxError,",
+          "  peg$parse as parse",
+          "}"
+        ].join("\n");
+    }
+
     let generators = {
       bare() {
         return [
@@ -1273,6 +1290,36 @@ function generateJS(ast, options) {
         return parts.join("\n");
       },
 
+      esm() {
+        let parts = [];
+        let dependencyVars = Object.keys(options.dependencies);
+
+        parts.push(
+          generateGeneratedByComment(),
+          ""
+        );
+
+        if (dependencyVars.length > 0) {
+          dependencyVars.forEach(variable => {
+            parts.push("import " + variable
+              + " from \""
+              + js.stringEscape(options.dependencies[variable])
+              + "\";"
+            );
+          });
+          parts.push("");
+        }
+
+        parts.push(
+          toplevelCode,
+          "",
+          "export " + generateParserExports() + ";",
+          ""
+        );
+
+        return parts.join("\n");
+      },
+
       amd() {
         let dependencyVars = Object.keys(options.dependencies);
         let dependencyIds = dependencyVars.map(v => options.dependencies[v]);