diff --git a/docs/generated/cli/login.md b/docs/generated/cli/login.md
new file mode 100644
index 0000000000..628e9e7f2a
--- /dev/null
+++ b/docs/generated/cli/login.md
@@ -0,0 +1,42 @@
+---
+title: 'login - CLI command'
+description: 'Login to Nx Cloud'
+---
+
+# login
+
+Login to Nx Cloud
+
+## Usage
+
+```shell
+nx login [nxCloudUrl]
+```
+
+Install `nx` globally to invoke the command directly using `nx`, or use `npx nx`, `yarn nx`, or `pnpm nx`.
+
+## Options
+
+### help
+
+Type: `boolean`
+
+Show help
+
+### nxCloudUrl
+
+Type: `string`
+
+The Nx Cloud URL of the instance you are trying to connect to. If no positional argument is provided, this command will connect to https://cloud.nx.app.
+
+### verbose
+
+Type: `boolean`
+
+Prints additional information about the commands (e.g., stack traces)
+
+### version
+
+Type: `boolean`
+
+Show version number
diff --git a/docs/generated/cli/logout.md b/docs/generated/cli/logout.md
new file mode 100644
index 0000000000..1c6bec6d68
--- /dev/null
+++ b/docs/generated/cli/logout.md
@@ -0,0 +1,36 @@
+---
+title: 'logout - CLI command'
+description: 'Logout from Nx Cloud'
+---
+
+# logout
+
+Logout from Nx Cloud
+
+## Usage
+
+```shell
+nx logout
+```
+
+Install `nx` globally to invoke the command directly using `nx`, or use `npx nx`, `yarn nx`, or `pnpm nx`.
+
+## Options
+
+### help
+
+Type: `boolean`
+
+Show help
+
+### verbose
+
+Type: `boolean`
+
+Prints additional information about the commands (e.g., stack traces)
+
+### version
+
+Type: `boolean`
+
+Show version number
diff --git a/docs/generated/manifests/menus.json b/docs/generated/manifests/menus.json
index 6fc7630270..68cd1389e8 100644
--- a/docs/generated/manifests/menus.json
+++ b/docs/generated/manifests/menus.json
@@ -8712,6 +8712,22 @@
                 "isExternal": false,
                 "children": [],
                 "disableCollapsible": false
+              },
+              {
+                "name": "login",
+                "path": "/nx-api/nx/documents/login",
+                "id": "login",
+                "isExternal": false,
+                "children": [],
+                "disableCollapsible": false
+              },
+              {
+                "name": "logout",
+                "path": "/nx-api/nx/documents/logout",
+                "id": "logout",
+                "isExternal": false,
+                "children": [],
+                "disableCollapsible": false
               }
             ],
             "isExternal": false,
diff --git a/docs/generated/manifests/nx-api.json b/docs/generated/manifests/nx-api.json
index f6db8ce949..7634ba456a 100644
--- a/docs/generated/manifests/nx-api.json
+++ b/docs/generated/manifests/nx-api.json
@@ -1967,6 +1967,28 @@
         "path": "/nx-api/nx/documents/add",
         "tags": [],
         "originalFilePath": "generated/cli/add"
+      },
+      "/nx-api/nx/documents/login": {
+        "id": "login",
+        "name": "login",
+        "description": "The core Nx plugin contains the core functionality of Nx like the project graph, nx commands and task orchestration.",
+        "file": "generated/packages/nx/documents/login",
+        "itemList": [],
+        "isExternal": false,
+        "path": "/nx-api/nx/documents/login",
+        "tags": [],
+        "originalFilePath": "generated/cli/login"
+      },
+      "/nx-api/nx/documents/logout": {
+        "id": "logout",
+        "name": "logout",
+        "description": "The core Nx plugin contains the core functionality of Nx like the project graph, nx commands and task orchestration.",
+        "file": "generated/packages/nx/documents/logout",
+        "itemList": [],
+        "isExternal": false,
+        "path": "/nx-api/nx/documents/logout",
+        "tags": [],
+        "originalFilePath": "generated/cli/logout"
       }
     },
     "root": "/packages/nx",
diff --git a/docs/generated/packages-metadata.json b/docs/generated/packages-metadata.json
index ef779f9643..61e869d0fa 100644
--- a/docs/generated/packages-metadata.json
+++ b/docs/generated/packages-metadata.json
@@ -1946,6 +1946,28 @@
         "path": "nx/documents/add",
         "tags": [],
         "originalFilePath": "generated/cli/add"
+      },
+      {
+        "id": "login",
+        "name": "login",
+        "description": "The core Nx plugin contains the core functionality of Nx like the project graph, nx commands and task orchestration.",
+        "file": "generated/packages/nx/documents/login",
+        "itemList": [],
+        "isExternal": false,
+        "path": "nx/documents/login",
+        "tags": [],
+        "originalFilePath": "generated/cli/login"
+      },
+      {
+        "id": "logout",
+        "name": "logout",
+        "description": "The core Nx plugin contains the core functionality of Nx like the project graph, nx commands and task orchestration.",
+        "file": "generated/packages/nx/documents/logout",
+        "itemList": [],
+        "isExternal": false,
+        "path": "nx/documents/logout",
+        "tags": [],
+        "originalFilePath": "generated/cli/logout"
       }
     ],
     "executors": [
diff --git a/docs/generated/packages/nx/documents/login.md b/docs/generated/packages/nx/documents/login.md
new file mode 100644
index 0000000000..628e9e7f2a
--- /dev/null
+++ b/docs/generated/packages/nx/documents/login.md
@@ -0,0 +1,42 @@
+---
+title: 'login - CLI command'
+description: 'Login to Nx Cloud'
+---
+
+# login
+
+Login to Nx Cloud
+
+## Usage
+
+```shell
+nx login [nxCloudUrl]
+```
+
+Install `nx` globally to invoke the command directly using `nx`, or use `npx nx`, `yarn nx`, or `pnpm nx`.
+
+## Options
+
+### help
+
+Type: `boolean`
+
+Show help
+
+### nxCloudUrl
+
+Type: `string`
+
+The Nx Cloud URL of the instance you are trying to connect to. If no positional argument is provided, this command will connect to https://cloud.nx.app.
+
+### verbose
+
+Type: `boolean`
+
+Prints additional information about the commands (e.g., stack traces)
+
+### version
+
+Type: `boolean`
+
+Show version number
diff --git a/docs/generated/packages/nx/documents/logout.md b/docs/generated/packages/nx/documents/logout.md
new file mode 100644
index 0000000000..1c6bec6d68
--- /dev/null
+++ b/docs/generated/packages/nx/documents/logout.md
@@ -0,0 +1,36 @@
+---
+title: 'logout - CLI command'
+description: 'Logout from Nx Cloud'
+---
+
+# logout
+
+Logout from Nx Cloud
+
+## Usage
+
+```shell
+nx logout
+```
+
+Install `nx` globally to invoke the command directly using `nx`, or use `npx nx`, `yarn nx`, or `pnpm nx`.
+
+## Options
+
+### help
+
+Type: `boolean`
+
+Show help
+
+### verbose
+
+Type: `boolean`
+
+Prints additional information about the commands (e.g., stack traces)
+
+### version
+
+Type: `boolean`
+
+Show version number
diff --git a/docs/map.json b/docs/map.json
index 4619f93e97..d0c5f2df84 100644
--- a/docs/map.json
+++ b/docs/map.json
@@ -2112,6 +2112,16 @@
               "name": "add",
               "id": "add",
               "file": "generated/cli/add"
+            },
+            {
+              "name": "login",
+              "id": "login",
+              "file": "generated/cli/login"
+            },
+            {
+              "name": "logout",
+              "id": "logout",
+              "file": "generated/cli/logout"
             }
           ]
         },
diff --git a/docs/shared/reference/sitemap.md b/docs/shared/reference/sitemap.md
index 1975ffde2d..29704e8fa6 100644
--- a/docs/shared/reference/sitemap.md
+++ b/docs/shared/reference/sitemap.md
@@ -558,6 +558,8 @@
       - [view-logs](/nx-api/nx/documents/view-logs)
       - [release](/nx-api/nx/documents/release)
       - [add](/nx-api/nx/documents/add)
+      - [login](/nx-api/nx/documents/login)
+      - [logout](/nx-api/nx/documents/logout)
     - [executors](/nx-api/nx/executors)
       - [noop](/nx-api/nx/executors/noop)
       - [run-commands](/nx-api/nx/executors/run-commands)
diff --git a/packages/nx/src/command-line/connect/connect-to-nx-cloud.ts b/packages/nx/src/command-line/connect/connect-to-nx-cloud.ts
index 054c9c467f..a1c37c3947 100644
--- a/packages/nx/src/command-line/connect/connect-to-nx-cloud.ts
+++ b/packages/nx/src/command-line/connect/connect-to-nx-cloud.ts
@@ -80,10 +80,12 @@ export async function connectToNxCloudCommand(
 
   if (isNxCloudUsed(nxJson)) {
     const token =
-      process.env.NX_CLOUD_ACCESS_TOKEN || nxJson.nxCloudAccessToken;
+      process.env.NX_CLOUD_ACCESS_TOKEN ||
+      nxJson.nxCloudAccessToken ||
+      nxJson.nxCloudId;
     if (!token) {
       throw new Error(
-        `Unable to authenticate. Either define accessToken in nx.json or set the NX_CLOUD_ACCESS_TOKEN env variable.`
+        `Unable to authenticate. If you are connecting to Nx Cloud locally, set Nx Cloud ID in nx.json. If you are connecting in a CI context, either define accessToken in nx.json or set the NX_CLOUD_ACCESS_TOKEN env variable.`
       );
     }
     const connectCloudUrl = await createNxCloudOnboardingURL(
@@ -93,10 +95,9 @@ export async function connectToNxCloudCommand(
     output.log({
       title: '✔ This workspace already has Nx Cloud set up',
       bodyLines: [
-        'If you have not done so already, connect your workspace to your Nx Cloud account:',
-        `- Connect with Nx Cloud at: 
-      
-        ${connectCloudUrl}`,
+        'If you have not done so already, connect your workspace to your Nx Cloud account with the following URL:',
+        '',
+        `${connectCloudUrl}`,
       ],
     });
 
diff --git a/packages/nx/src/command-line/login/command-object.ts b/packages/nx/src/command-line/login/command-object.ts
new file mode 100644
index 0000000000..9d8ad15c83
--- /dev/null
+++ b/packages/nx/src/command-line/login/command-object.ts
@@ -0,0 +1,19 @@
+import { CommandModule } from 'yargs';
+import { withVerbose } from '../../command-line/yargs-utils/shared-options';
+
+export const yargsLoginCommand: CommandModule = {
+  command: 'login [nxCloudUrl]',
+  describe: 'Login to Nx Cloud',
+  builder: (yargs) =>
+    withVerbose(
+      yargs.positional('nxCloudUrl', {
+        describe:
+          'The Nx Cloud URL of the instance you are trying to connect to. If no positional argument is provided, this command will connect to https://cloud.nx.app.',
+        type: 'string',
+        required: false,
+      })
+    ),
+  handler: async (args: any) => {
+    process.exit(await (await import('./login')).loginHandler(args));
+  },
+};
diff --git a/packages/nx/src/command-line/login/login.ts b/packages/nx/src/command-line/login/login.ts
new file mode 100644
index 0000000000..9404f9a867
--- /dev/null
+++ b/packages/nx/src/command-line/login/login.ts
@@ -0,0 +1,20 @@
+import { verifyOrUpdateNxCloudClient } from '../../nx-cloud/update-manager';
+import { getCloudOptions } from '../../nx-cloud/utilities/get-cloud-options';
+import { handleErrors } from '../../utils/params';
+
+export interface LoginArgs {
+  nxCloudUrl?: string;
+  verbose?: boolean;
+}
+
+export function loginHandler(args: LoginArgs): Promise<number> {
+  if (args.nxCloudUrl) {
+    process.env.NX_CLOUD_API = args.nxCloudUrl;
+  }
+
+  return handleErrors(args.verbose, async () => {
+    const nxCloudClient = (await verifyOrUpdateNxCloudClient(getCloudOptions()))
+      .nxCloudClient;
+    await nxCloudClient.commands.login();
+  });
+}
diff --git a/packages/nx/src/command-line/logout/command-object.ts b/packages/nx/src/command-line/logout/command-object.ts
new file mode 100644
index 0000000000..840fae0842
--- /dev/null
+++ b/packages/nx/src/command-line/logout/command-object.ts
@@ -0,0 +1,11 @@
+import { CommandModule } from 'yargs';
+import { withVerbose } from '../../command-line/yargs-utils/shared-options';
+
+export const yargsLogoutCommand: CommandModule = {
+  command: 'logout',
+  describe: 'Logout from Nx Cloud',
+  builder: (yargs) => withVerbose(yargs),
+  handler: async (args: any) => {
+    process.exit(await (await import('./logout')).logoutHandler(args));
+  },
+};
diff --git a/packages/nx/src/command-line/logout/logout.ts b/packages/nx/src/command-line/logout/logout.ts
new file mode 100644
index 0000000000..685fb9b57e
--- /dev/null
+++ b/packages/nx/src/command-line/logout/logout.ts
@@ -0,0 +1,15 @@
+import { verifyOrUpdateNxCloudClient } from '../../nx-cloud/update-manager';
+import { getCloudOptions } from '../../nx-cloud/utilities/get-cloud-options';
+import { handleErrors } from '../../utils/params';
+
+export interface LogoutArgs {
+  verbose?: boolean;
+}
+
+export function logoutHandler(args: LogoutArgs): Promise<number> {
+  return handleErrors(args.verbose, async () => {
+    const nxCloudClient = (await verifyOrUpdateNxCloudClient(getCloudOptions()))
+      .nxCloudClient;
+    await nxCloudClient.commands.logout();
+  });
+}
diff --git a/packages/nx/src/command-line/nx-commands.ts b/packages/nx/src/command-line/nx-commands.ts
index c5d57ead8a..f9524f2e37 100644
--- a/packages/nx/src/command-line/nx-commands.ts
+++ b/packages/nx/src/command-line/nx-commands.ts
@@ -37,6 +37,8 @@ import { yargsWatchCommand } from './watch/command-object';
 import { yargsResetCommand } from './reset/command-object';
 import { yargsReleaseCommand } from './release/command-object';
 import { yargsAddCommand } from './add/command-object';
+import { yargsLoginCommand } from './login/command-object';
+import { yargsLogoutCommand } from './logout/command-object';
 import {
   yargsPrintAffectedCommand,
   yargsAffectedGraphCommand,
@@ -94,6 +96,8 @@ export const commandsObject = yargs
   .command(yargsViewLogsCommand)
   .command(yargsWatchCommand)
   .command(yargsNxInfixCommand)
+  .command(yargsLoginCommand)
+  .command(yargsLogoutCommand)
   .scriptName('nx')
   .help()
   // NOTE: we handle --version in nx.ts, this just tells yargs that the option exists
diff --git a/packages/nx/src/nx-cloud/utilities/axios.ts b/packages/nx/src/nx-cloud/utilities/axios.ts
index 5d7c0f3b24..7954ca2822 100644
--- a/packages/nx/src/nx-cloud/utilities/axios.ts
+++ b/packages/nx/src/nx-cloud/utilities/axios.ts
@@ -18,15 +18,9 @@ export function createApiAxiosInstance(options: CloudTaskRunnerOptions) {
 
   // TODO(lourw): Update message with NxCloudId once it is supported
   if (!accessToken && !nxCloudId) {
-    if (process.env.NX_ENABLE_LOGIN === 'true' && !nxCloudId) {
-      throw new Error(
-        `Unable to authenticate. Please connect your workspace to Nx Cloud to define a valid Nx Cloud Id. If you are in a CI context, please set the NX_CLOUD_ACCESS_TOKEN environment variable or define an access token in your nx.json.`
-      );
-    } else {
-      throw new Error(
-        `Unable to authenticate. Either define accessToken in nx.json or set the NX_CLOUD_ACCESS_TOKEN env variable. If you do not want to use Nx Cloud for this command, either set NX_NO_CLOUD=true, or pass the --no-cloud flag.`
-      );
-    }
+    throw new Error(
+      `Unable to authenticate. If you are connecting to Nx Cloud locally, set an Nx Cloud ID in your nx.json with "nx connect". If you are in a CI context, please set the NX_CLOUD_ACCESS_TOKEN environment variable or define an access token in your nx.json.`
+    );
   }
 
   if (options.customProxyConfigPath) {
diff --git a/packages/nx/src/tasks-runner/run-command.ts b/packages/nx/src/tasks-runner/run-command.ts
index 82de15ef9f..f6c774b754 100644
--- a/packages/nx/src/tasks-runner/run-command.ts
+++ b/packages/nx/src/tasks-runner/run-command.ts
@@ -671,7 +671,7 @@ function getTasksRunnerPath(
     nxJson.tasksRunnerOptions?.[runner]?.options?.accessToken ||
     // Cloud access token specified in env var.
     process.env.NX_CLOUD_ACCESS_TOKEN ||
-    // Nx Cloud Id specified in nxJson
+    // Nx Cloud ID specified in nxJson
     nxJson.nxCloudId;
 
   return isCloudRunner ? 'nx-cloud' : require.resolve('./default-tasks-runner');