diff --git a/.github/workflows/continuous-integration.yml b/.github/workflows/continuous-integration.yml
index 5ebef2c79..5ad2e89f0 100644
--- a/.github/workflows/continuous-integration.yml
+++ b/.github/workflows/continuous-integration.yml
@@ -14,6 +14,7 @@ jobs:
   test:
     name: test
     runs-on: ${{ matrix.os }}
+    continue-on-error: ${{ startsWith(matrix.python-version, '3.10')}}
     strategy:
       # Allow other matrix jobs to complete if 1 fails
       fail-fast: false
@@ -23,6 +24,7 @@ jobs:
           - "3.7"
           - "3.8"
           - "3.9"
+          - "3.10.0-beta.3"
         os:
           - ubuntu-latest
           - windows-latest
@@ -36,6 +38,18 @@ jobs:
         with:
           python-version: ${{ matrix.python-version }}
 
+      - uses: actions-rs/toolchain@v1
+        # No wheels exist for orjson on Python 3.10 on MacOS or Windows, and the Linux
+        #  wheels are sometimes not uploaded until after the package is initially
+        # published. This sets up the Rust nightly toolchain so we can build the orjson
+        # wheel.
+        if: ${{ startsWith(matrix.python-version, '3.10')}}
+        with:
+          toolchain: nightly
+          override: true
+          default: true
+          profile: minimal
+
       - name: Cache dependencies (Linux)
         if: startsWith(runner.os, 'Linux')
         uses: actions/cache@v2
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8ec928651..9eacd7701 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,8 @@
 
 ### Added
 
+- (Experimental) support for Python 3.10 ([#473](https://github.com/stac-utils/pystac/pull/473))
+
 ### Changed
 
 ### Fixed
diff --git a/README.md b/README.md
index 889e1fef3..7abf78edc 100644
--- a/README.md
+++ b/README.md
@@ -10,6 +10,9 @@ PySTAC is a library for working with [SpatialTemporal Asset Catalog](https://sta
 
 ## Installation
 
+PySTAC requires Python>=3.6. Support for Python>=3.10 should be considered experimental
+until further notice.
+
 PySTAC has a single required dependency (`python-dateutil`).
 PySTAC can be installed from pip or the source repository.
 
@@ -34,6 +37,10 @@ optional `orjson` requirements:
 > pip install pystac[orjson]
 ```
 
+> *`orjson` wheels are only available for Linux in Python 3.10. If you are using the
+> `orjson` extra with Python 3.10 you will need to have the Rust nightly toolchain
+> installed as your default toolchain in order to build the package wheel.*
+
 From source repository:
 
 ```bash