diff --git a/pandas/_libs/tslib.pyx b/pandas/_libs/tslib.pyx
index f073d099d37ee..c2d2acd95ce43 100644
--- a/pandas/_libs/tslib.pyx
+++ b/pandas/_libs/tslib.pyx
@@ -31,9 +31,14 @@ import numpy as np
 
 cnp.import_array()
 
+from pandas._libs.tslibs.dtypes cimport (
+    get_supported_reso,
+    npy_unit_to_abbrev,
+)
 from pandas._libs.tslibs.np_datetime cimport (
     NPY_DATETIMEUNIT,
     NPY_FR_ns,
+    get_datetime64_unit,
     import_pandas_datetime,
     npy_datetimestruct,
     npy_datetimestruct_to_datetime,
@@ -441,6 +446,7 @@ cpdef array_to_datetime(
     utc : bool, default False
          indicator whether the dates should be UTC
     creso : NPY_DATETIMEUNIT, default NPY_FR_ns
+        Set to NPY_FR_GENERIC to infer a resolution.
 
     Returns
     -------
@@ -464,14 +470,19 @@ cpdef array_to_datetime(
         set out_tzoffset_vals = set()
         tzinfo tz_out = None
         cnp.flatiter it = cnp.PyArray_IterNew(values)
-        DatetimeParseState state = DatetimeParseState()
-        str reso_str
+        NPY_DATETIMEUNIT item_reso
+        bint infer_reso = creso == NPY_DATETIMEUNIT.NPY_FR_GENERIC
+        DatetimeParseState state = DatetimeParseState(creso)
+        str abbrev
 
     # specify error conditions
     assert is_raise or is_ignore or is_coerce
 
-    reso_str = npy_unit_to_abbrev(creso)
-    result = np.empty((<object>values).shape, dtype=f"M8[{reso_str}]")
+    if infer_reso:
+        abbrev = "ns"
+    else:
+        abbrev = npy_unit_to_abbrev(creso)
+    result = np.empty((<object>values).shape, dtype=f"M8[{abbrev}]")
     iresult = result.view("i8").ravel()
 
     for i in range(n):
@@ -484,19 +495,38 @@ cpdef array_to_datetime(
                 iresult[i] = NPY_NAT
 
             elif PyDateTime_Check(val):
+                if isinstance(val, _Timestamp):
+                    item_reso = val._creso
+                else:
+                    item_reso = NPY_DATETIMEUNIT.NPY_FR_us
+                state.update_creso(item_reso)
+                if infer_reso:
+                    creso = state.creso
                 tz_out = state.process_datetime(val, tz_out, utc_convert)
                 iresult[i] = parse_pydatetime(val, &dts, creso=creso)
 
             elif PyDate_Check(val):
+                item_reso = NPY_DATETIMEUNIT.NPY_FR_s
+                state.update_creso(item_reso)
+                if infer_reso:
+                    creso = state.creso
                 iresult[i] = pydate_to_dt64(val, &dts, reso=creso)
                 state.found_other = True
 
             elif is_datetime64_object(val):
+                item_reso = get_supported_reso(get_datetime64_unit(val))
+                state.update_creso(item_reso)
+                if infer_reso:
+                    creso = state.creso
                 iresult[i] = get_datetime64_nanos(val, creso)
                 state.found_other = True
 
             elif is_integer_object(val) or is_float_object(val):
                 # these must be ns unit by-definition
+                item_reso = NPY_FR_ns
+                state.update_creso(item_reso)
+                if infer_reso:
+                    creso = state.creso
 
                 if val != val or val == NPY_NAT:
                     iresult[i] = NPY_NAT
@@ -514,11 +544,20 @@ cpdef array_to_datetime(
                 if parse_today_now(val, &iresult[i], utc, creso):
                     # We can't _quite_ dispatch this to convert_str_to_tsobject
                     #  bc there isn't a nice way to pass "utc"
+                    item_reso = NPY_DATETIMEUNIT.NPY_FR_us
+                    state.update_creso(item_reso)
+                    if infer_reso:
+                        creso = state.creso
                     continue
 
                 _ts = convert_str_to_tsobject(
                     val, None, unit="ns", dayfirst=dayfirst, yearfirst=yearfirst
                 )
+                item_reso = _ts.creso
+                state.update_creso(item_reso)
+                if infer_reso:
+                    creso = state.creso
+
                 _ts.ensure_reso(creso, val)
 
                 iresult[i] = _ts.value
@@ -586,6 +625,23 @@ cpdef array_to_datetime(
             # e.g. test_to_datetime_mixed_awareness_mixed_types
             raise ValueError("Cannot mix tz-aware with tz-naive values")
 
+    if infer_reso:
+        if state.creso_ever_changed:
+            # We encountered mismatched resolutions, need to re-parse with
+            #  the correct one.
+            return array_to_datetime(
+                values,
+                errors=errors,
+                yearfirst=yearfirst,
+                dayfirst=dayfirst,
+                utc=utc,
+                creso=state.creso,
+            )
+
+        # Otherwise we can use the single reso that we encountered and avoid
+        #  a second pass.
+        abbrev = npy_unit_to_abbrev(state.creso)
+        result = iresult.view(f"M8[{abbrev}]")
     return result, tz_out
 
 
diff --git a/pandas/tests/tslibs/test_array_to_datetime.py b/pandas/tests/tslibs/test_array_to_datetime.py
index 3ab214196a218..dbf81013662e7 100644
--- a/pandas/tests/tslibs/test_array_to_datetime.py
+++ b/pandas/tests/tslibs/test_array_to_datetime.py
@@ -23,6 +23,66 @@
 creso_infer = NpyDatetimeUnit.NPY_FR_GENERIC.value
 
 
+class TestArrayToDatetimeResolutionInference:
+    # TODO: tests that include tzs, ints
+
+    def test_infer_homogeoneous_datetimes(self):
+        dt = datetime(2023, 10, 27, 18, 3, 5, 678000)
+        arr = np.array([dt, dt, dt], dtype=object)
+        result, tz = tslib.array_to_datetime(arr, creso=creso_infer)
+        assert tz is None
+        expected = np.array([dt, dt, dt], dtype="M8[us]")
+        tm.assert_numpy_array_equal(result, expected)
+
+    def test_infer_homogeoneous_date_objects(self):
+        dt = datetime(2023, 10, 27, 18, 3, 5, 678000)
+        dt2 = dt.date()
+        arr = np.array([None, dt2, dt2, dt2], dtype=object)
+        result, tz = tslib.array_to_datetime(arr, creso=creso_infer)
+        assert tz is None
+        expected = np.array([np.datetime64("NaT"), dt2, dt2, dt2], dtype="M8[s]")
+        tm.assert_numpy_array_equal(result, expected)
+
+    def test_infer_homogeoneous_dt64(self):
+        dt = datetime(2023, 10, 27, 18, 3, 5, 678000)
+        dt64 = np.datetime64(dt, "ms")
+        arr = np.array([None, dt64, dt64, dt64], dtype=object)
+        result, tz = tslib.array_to_datetime(arr, creso=creso_infer)
+        assert tz is None
+        expected = np.array([np.datetime64("NaT"), dt64, dt64, dt64], dtype="M8[ms]")
+        tm.assert_numpy_array_equal(result, expected)
+
+    def test_infer_homogeoneous_timestamps(self):
+        dt = datetime(2023, 10, 27, 18, 3, 5, 678000)
+        ts = Timestamp(dt).as_unit("ns")
+        arr = np.array([None, ts, ts, ts], dtype=object)
+        result, tz = tslib.array_to_datetime(arr, creso=creso_infer)
+        assert tz is None
+        expected = np.array([np.datetime64("NaT")] + [ts.asm8] * 3, dtype="M8[ns]")
+        tm.assert_numpy_array_equal(result, expected)
+
+    def test_infer_homogeoneous_datetimes_strings(self):
+        item = "2023-10-27 18:03:05.678000"
+        arr = np.array([None, item, item, item], dtype=object)
+        result, tz = tslib.array_to_datetime(arr, creso=creso_infer)
+        assert tz is None
+        expected = np.array([np.datetime64("NaT"), item, item, item], dtype="M8[us]")
+        tm.assert_numpy_array_equal(result, expected)
+
+    def test_infer_heterogeneous(self):
+        dtstr = "2023-10-27 18:03:05.678000"
+
+        arr = np.array([dtstr, dtstr[:-3], dtstr[:-7], None], dtype=object)
+        result, tz = tslib.array_to_datetime(arr, creso=creso_infer)
+        assert tz is None
+        expected = np.array(arr, dtype="M8[us]")
+        tm.assert_numpy_array_equal(result, expected)
+
+        result, tz = tslib.array_to_datetime(arr[::-1], creso=creso_infer)
+        assert tz is None
+        tm.assert_numpy_array_equal(result, expected[::-1])
+
+
 class TestArrayToDatetimeWithTZResolutionInference:
     def test_array_to_datetime_with_tz_resolution(self):
         tz = tzoffset("custom", 3600)