diff --git a/docs/design/companion-process-manager.md b/docs/design/companion-process-manager.md
index 89efe5ca..7b11a176 100644
--- a/docs/design/companion-process-manager.md
+++ b/docs/design/companion-process-manager.md
@@ -674,7 +674,7 @@ No per-companion logic in Arbiter.
 - [x] Spawn one companion process from the manager.
 - [x] Apply `cwd` and `env` before target.
 - [x] Redirect `stdout` and `stderr`.
-- [ ] Reap exited companion processes.
+- [x] Reap exited companion processes.
 - [ ] Implement `STARTING -> RUNNING` using `startsecs`.
 - [ ] Implement `BACKOFF` with fixed `companion_restart_delay`.
 - [ ] Implement `start_process`.
diff --git a/gunicorn/companion/manager.py b/gunicorn/companion/manager.py
index 2c25b33f..413c46a2 100644
--- a/gunicorn/companion/manager.py
+++ b/gunicorn/companion/manager.py
@@ -58,6 +58,57 @@ class CompanionManager:
             os._exit(1)
         os._exit(0)
 
+    def reap_processes(self) -> list:
+        """Reap any companions that have exited and record their exit info.
+
+        ``waitpid(-1, WNOHANG)`` asks the kernel for any dead child without
+        blocking: it returns ``(pid, status)`` for one reaped child, or
+        ``(0, 0)`` when none are waiting. We loop so a single call clears the
+        whole backlog (several children can die between ticks), and stop on
+        ``ChildProcessError`` which means there are no children left at all.
+        Each reaped pid is matched back to its companion. Deciding whether to
+        restart belongs to the run loop; here we only record the exit and free
+        the pid, returning the companions that were reaped.
+        """
+        reaped = []
+        while True:
+            try:
+                pid, status = os.waitpid(-1, os.WNOHANG)
+            except ChildProcessError:
+                break
+            if pid == 0:
+                break
+            proc = self._process_by_pid(pid)
+            if proc is not None:
+                self._record_exit(proc, status)
+                reaped.append(proc)
+        return reaped
+
+    def _process_by_pid(self, pid: int):
+        for proc in self.processes.values():
+            if proc.pid == pid:
+                return proc
+        return None
+
+    @staticmethod
+    def _record_exit(proc: CompanionProcess, status: int) -> None:
+        """Store how a companion died: signal number or exit code, plus time.
+
+        ``status`` is the packed value from ``waitpid``. ``WIFSIGNALED`` tells
+        us a signal killed it, in which case ``WTERMSIG`` gives the signal
+        number; otherwise it exited normally and ``WEXITSTATUS`` gives its exit
+        code. Only one of the two is ever set, so the other is cleared.
+        """
+        if os.WIFSIGNALED(status):
+            proc.last_exit_signal = os.WTERMSIG(status)
+            proc.last_exit_code = None
+        else:
+            proc.last_exit_code = os.WEXITSTATUS(status)
+            proc.last_exit_signal = None
+        proc.exited_at = time.time()
+        proc.exit_count += 1
+        proc.pid = None
+
     @staticmethod
     def _apply_environment(config: CompanionConfig) -> None:
         """Apply ``cwd`` and ``env`` in the child before running the target.
diff --git a/tests/test_companion_manager.py b/tests/test_companion_manager.py
index 3a6aa04b..0169b8cf 100644
--- a/tests/test_companion_manager.py
+++ b/tests/test_companion_manager.py
@@ -95,6 +95,36 @@ def test_redirect_output_inherit_noop():
     dup2.assert_not_called()
 
 
+def test_reap_records_exit_code():
+    mgr = make_manager("rq")
+    proc = mgr.processes["rq"]
+    proc.pid = 4321
+    # exit code 1 -> status 1<<8; second call drains the queue.
+    with mock.patch("os.waitpid", side_effect=[(4321, 1 << 8), (0, 0)]):
+        reaped = mgr.reap_processes()
+    assert reaped == [proc]
+    assert proc.last_exit_code == 1
+    assert proc.last_exit_signal is None
+    assert proc.exit_count == 1
+    assert proc.pid is None
+
+
+def test_reap_records_signal():
+    mgr = make_manager("rq")
+    proc = mgr.processes["rq"]
+    proc.pid = 4321
+    with mock.patch("os.waitpid", side_effect=[(4321, 9), (0, 0)]):
+        mgr.reap_processes()
+    assert proc.last_exit_signal == 9
+    assert proc.last_exit_code is None
+
+
+def test_reap_no_children():
+    mgr = make_manager("rq")
+    with mock.patch("os.waitpid", side_effect=ChildProcessError):
+        assert mgr.reap_processes() == []
+
+
 def test_spawn_parent_records_pid_and_starting():
     mgr = make_manager("rq")
     proc = mgr.processes["rq"]