Disclosed are various examples for Internet of Things (IoT) device discovery and configuration. In some embodiments, an IoT template is generated based on IoT capabilities for an IoT type. An IoT device discovery command is transmitted from a management service to a gateway enrolled with the management service. The IoT device discovery command includes the IoT template and instructions for the respective gateway to transmit an IoT device discovery message using the IoT protocol. A list of IoT devices is received from the gateway. The list of IoT devices corresponds to the IoT protocol and the IoT type. An enrollment of an IoT device is performed. The enrollment includes transmitting an IoT device enrollment command that instructs the respective gateway to permit communication with the IoT device.