diff --git a/crates/ruff_linter/resources/test/fixtures/pydoclint/DOC102_numpy.py b/crates/ruff_linter/resources/test/fixtures/pydoclint/DOC102_numpy.py
index ea93e16cc1..9bdac6788f 100644
--- a/crates/ruff_linter/resources/test/fixtures/pydoclint/DOC102_numpy.py
+++ b/crates/ruff_linter/resources/test/fixtures/pydoclint/DOC102_numpy.py
@@ -371,6 +371,61 @@ class Foo:
         """
         return
 
+# DOC102 - Test case from issue #20959: comma-separated parameters
+def leq(x: object, y: object) -> bool:
+    """Compare two objects for loose equality.
+
+    Parameters
+    ----------
+    x1, x2 : object
+        Objects.
+
+    Returns
+    -------
+    bool
+        Whether the objects are identical or equal.
+    """
+    return x is y or x == y
+
+
+# OK - comma-separated parameters that match function signature
+def compare_values(x1: int, x2: int) -> bool:
+    """Compare two integer values.
+
+    Parameters
+    ----------
+    x1, x2 : int
+        Values to compare.
+
+    Returns
+    -------
+    bool
+        True if values are equal.
+    """
+    return x1 == x2
+
+
+# DOC102 - mixed comma-separated and regular parameters
+def process_data(data, x1: str, x2: str) -> str:
+    """Process data with multiple string parameters.
+
+    Parameters
+    ----------
+    data : list
+        Input data to process.
+    x1, x2 : str
+        String parameters for processing.
+    extra_param : str
+        Extra parameter not in signature.
+
+    Returns
+    -------
+    str
+        Processed result.
+    """
+    return f"{x1}{x2}{len(data)}"
+
+
 # OK
 def baz(x: int) -> int:
     """
@@ -389,3 +444,21 @@ def baz(x: int) -> int:
     int
     """
     return x
+
+
+# OK - comma-separated parameters without type annotations
+def add_numbers(a, b):
+    """
+    Adds two numbers and returns the result.
+
+    Parameters
+    ----------
+    a, b
+        The numbers to add.
+
+    Returns
+    -------
+    int
+        The sum of the two numbers.
+    """
+    return a + b
diff --git a/crates/ruff_linter/src/rules/pydoclint/rules/check_docstring.rs b/crates/ruff_linter/src/rules/pydoclint/rules/check_docstring.rs
index dd88250952..97f1b7ed9b 100644
--- a/crates/ruff_linter/src/rules/pydoclint/rules/check_docstring.rs
+++ b/crates/ruff_linter/src/rules/pydoclint/rules/check_docstring.rs
@@ -661,19 +661,31 @@ fn parse_parameters_numpy(content: &str, content_start: TextSize) -> Vec<Paramet
                 .is_some_and(|first_char| !first_char.is_whitespace())
             {
                 if let Some(before_colon) = entry.split(':').next() {
-                    let param = before_colon.trim_end();
-                    let param_name = param.trim_start_matches('*');
-                    if is_identifier(param_name) {
-                        let param_start = line_start + indentation.text_len();
-                        let param_end = param_start + param.text_len();
+                    let param_line = before_colon.trim_end();
 
-                        entries.push(ParameterEntry {
-                            name: param_name,
-                            range: TextRange::new(
-                                content_start + param_start,
-                                content_start + param_end,
-                            ),
-                        });
+                    // Split on commas to handle comma-separated parameters
+                    let mut current_offset = TextSize::from(0);
+                    for param_part in param_line.split(',') {
+                        let param_part_trimmed = param_part.trim();
+                        let param_name = param_part_trimmed.trim_start_matches('*');
+                        if is_identifier(param_name) {
+                            // Calculate the position of this specific parameter part within the line
+                            // Account for leading whitespace that gets trimmed
+                            let param_start_in_line = current_offset
+                                + (param_part.text_len() - param_part_trimmed.text_len());
+                            let param_start =
+                                line_start + indentation.text_len() + param_start_in_line;
+
+                            entries.push(ParameterEntry {
+                                name: param_name,
+                                range: TextRange::at(
+                                    content_start + param_start,
+                                    param_part_trimmed.text_len(),
+                                ),
+                            });
+                        }
+                        // Update offset for next iteration: add the part length plus comma length
+                        current_offset = current_offset + param_part.text_len() + ','.text_len();
                     }
                 }
             }
diff --git a/crates/ruff_linter/src/rules/pydoclint/snapshots/ruff_linter__rules__pydoclint__tests__docstring-extraneous-parameter_DOC102_numpy.py.snap b/crates/ruff_linter/src/rules/pydoclint/snapshots/ruff_linter__rules__pydoclint__tests__docstring-extraneous-parameter_DOC102_numpy.py.snap
index c4566953d0..6371878947 100644
--- a/crates/ruff_linter/src/rules/pydoclint/snapshots/ruff_linter__rules__pydoclint__tests__docstring-extraneous-parameter_DOC102_numpy.py.snap
+++ b/crates/ruff_linter/src/rules/pydoclint/snapshots/ruff_linter__rules__pydoclint__tests__docstring-extraneous-parameter_DOC102_numpy.py.snap
@@ -187,3 +187,36 @@ DOC102 Documented parameter `a` is not in the function's signature
 302 |     b
     |
 help: Remove the extraneous parameter from the docstring
+
+DOC102 Documented parameter `x1` is not in the function's signature
+   --> DOC102_numpy.py:380:5
+    |
+378 |     Parameters
+379 |     ----------
+380 |     x1, x2 : object
+    |     ^^
+381 |         Objects.
+    |
+help: Remove the extraneous parameter from the docstring
+
+DOC102 Documented parameter `x2` is not in the function's signature
+   --> DOC102_numpy.py:380:9
+    |
+378 |     Parameters
+379 |     ----------
+380 |     x1, x2 : object
+    |         ^^
+381 |         Objects.
+    |
+help: Remove the extraneous parameter from the docstring
+
+DOC102 Documented parameter `extra_param` is not in the function's signature
+   --> DOC102_numpy.py:418:5
+    |
+416 |     x1, x2 : str
+417 |         String parameters for processing.
+418 |     extra_param : str
+    |     ^^^^^^^^^^^
+419 |         Extra parameter not in signature.
+    |
+help: Remove the extraneous parameter from the docstring