Disclosed are various embodiments for automatic enrollment of Internet of Things (IoT) endpoints. An identity of an IoT endpoint is verified by an IoT gateway. The IoT gateway is configured to transmit, over a network, an enrollment request to an IoT management service. The enrollment of the IoT endpoint with the IoT management service is confirmed. A compliance policy for the IoT endpoint is retrieved from a command queue. The compliance policy is stored in the command queue until retrieved by the IoT gateway. The IoT gateway enforces the compliance policy on the IoT endpoint.