diff --git a/wp-admin/edit.php b/wp-admin/edit.php
index 35aca175d4..68786f0f8c 100644
--- a/wp-admin/edit.php
+++ b/wp-admin/edit.php
@@ -134,6 +134,11 @@ if ( $doaction ) {
 			break;
 		case 'untrash':
 			$untrashed = 0;
+
+			if ( isset( $_GET['doaction'] ) && ( 'undo' === $_GET['doaction'] ) ) {
+				add_filter( 'wp_untrash_post_status', 'wp_untrash_post_set_previous_status', 10, 3 );
+			}
+
 			foreach ( (array) $post_ids as $post_id ) {
 				if ( ! current_user_can( 'delete_post', $post_id ) ) {
 					wp_die( __( 'Sorry, you are not allowed to restore this item from the Trash.' ) );
@@ -146,6 +151,9 @@ if ( $doaction ) {
 				$untrashed++;
 			}
 			$sendback = add_query_arg( 'untrashed', $untrashed, $sendback );
+
+			remove_filter( 'wp_untrash_post_status', 'wp_untrash_post_set_previous_status', 10, 3 );
+
 			break;
 		case 'delete':
 			$deleted = 0;
@@ -419,6 +427,18 @@ foreach ( $bulk_counts as $message => $count ) {
 		$ids        = preg_replace( '/[^0-9,]/', '', $_REQUEST['ids'] );
 		$messages[] = '<a href="' . esc_url( wp_nonce_url( "edit.php?post_type=$post_type&doaction=undo&action=untrash&ids=$ids", 'bulk-posts' ) ) . '">' . __( 'Undo' ) . '</a>';
 	}
+
+	if ( 'untrashed' === $message && isset( $_REQUEST['ids'] ) ) {
+		$ids = explode( ',', $_REQUEST['ids'] );
+
+		if ( 1 === count( $ids ) && current_user_can( 'edit_post', $ids[0] ) ) {
+			$messages[] = sprintf(
+				'<a href="%1$s">%2$s</a>',
+				esc_url( get_edit_post_link( $ids[0] ) ),
+				esc_html( get_post_type_object( get_post_type( $ids[0] ) )->labels->edit_item )
+			);
+		}
+	}
 }
 
 if ( $messages ) {
diff --git a/wp-admin/post.php b/wp-admin/post.php
index 759e4b6b93..c4a0ab17e5 100644
--- a/wp-admin/post.php
+++ b/wp-admin/post.php
@@ -291,7 +291,14 @@ switch ( $action ) {
 			wp_die( __( 'Error in restoring the item from Trash.' ) );
 		}
 
-		wp_redirect( add_query_arg( 'untrashed', 1, $sendback ) );
+		$sendback = add_query_arg(
+			array(
+				'untrashed' => 1,
+				'ids'       => $post_id,
+			),
+			$sendback
+		);
+		wp_redirect( $sendback );
 		exit;
 
 	case 'delete':
diff --git a/wp-includes/functions.php b/wp-includes/functions.php
index 3f6864368c..f46fc6ea65 100644
--- a/wp-includes/functions.php
+++ b/wp-includes/functions.php
@@ -1193,6 +1193,7 @@ function wp_removable_query_args() {
 		'error',
 		'hotkeys_highlight_first',
 		'hotkeys_highlight_last',
+		'ids',
 		'locked',
 		'message',
 		'same',
diff --git a/wp-includes/post.php b/wp-includes/post.php
index 293461e9ed..71161f4cab 100644
--- a/wp-includes/post.php
+++ b/wp-includes/post.php
@@ -3233,11 +3233,13 @@ function wp_trash_post( $post_id = 0 ) {
 }
 
 /**
- * Restore a post or page from the Trash.
+ * Restores a post from the Trash.
  *
  * @since 2.9.0
+ * @since 5.6.0 An untrashed post is now returned to 'draft' status by default, except for
+ *              attachments which are returned to their original 'inherit' status.
  *
- * @param int $post_id Optional. Post ID. Default is ID of the global $post.
+ * @param int $post_id Optional. Post ID. Default is ID of the global `$post`.
  * @return WP_Post|false|null Post data on success, false or null on failure.
  */
 function wp_untrash_post( $post_id = 0 ) {
@@ -3247,19 +3249,25 @@ function wp_untrash_post( $post_id = 0 ) {
 		return $post;
 	}
 
+	$post_id = $post->ID;
+
 	if ( 'trash' !== $post->post_status ) {
 		return false;
 	}
 
+	$previous_status = get_post_meta( $post_id, '_wp_trash_meta_status', true );
+
 	/**
 	 * Filters whether a post untrashing should take place.
 	 *
 	 * @since 4.9.0
+	 * @since 5.6.0 The `$previous_status` parameter was added.
 	 *
-	 * @param bool|null $untrash Whether to go forward with untrashing.
-	 * @param WP_Post   $post    Post object.
+	 * @param bool|null $untrash         Whether to go forward with untrashing.
+	 * @param WP_Post   $post            Post object.
+	 * @param string    $previous_status The status of the post at the point where it was trashed.
 	 */
-	$check = apply_filters( 'pre_untrash_post', null, $post );
+	$check = apply_filters( 'pre_untrash_post', null, $post, $previous_status );
 	if ( null !== $check ) {
 		return $check;
 	}
@@ -3268,12 +3276,31 @@ function wp_untrash_post( $post_id = 0 ) {
 	 * Fires before a post is restored from the Trash.
 	 *
 	 * @since 2.9.0
+	 * @since 5.6.0 The `$previous_status` parameter was added.
 	 *
-	 * @param int $post_id Post ID.
+	 * @param int    $post_id         Post ID.
+	 * @param string $previous_status The status of the post at the point where it was trashed.
 	 */
-	do_action( 'untrash_post', $post_id );
+	do_action( 'untrash_post', $post_id, $previous_status );
 
-	$post_status = get_post_meta( $post_id, '_wp_trash_meta_status', true );
+	$new_status = ( 'attachment' === $post->post_type ) ? 'inherit' : 'draft';
+
+	/**
+	 * Filters the status that a post gets assigned when it is restored from the trash (untrashed).
+	 *
+	 * By default posts that are restored will be assigned a status of 'draft'. Return the value of `$previous_status`
+	 * in order to assign the status that the post had before it was trashed. The `wp_untrash_post_set_previous_status()`
+	 * function is available for this.
+	 *
+	 * Prior to WordPress 5.6.0, restored posts were always assigned their original status.
+	 *
+	 * @since 5.6.0
+	 *
+	 * @param string $new_status      The new status of the post being restored.
+	 * @param int    $post_id         The ID of the post being restored.
+	 * @param string $previous_status The status of the post at the point where it was trashed.
+	 */
+	$post_status = apply_filters( 'wp_untrash_post_status', $new_status, $post_id, $previous_status );
 
 	delete_post_meta( $post_id, '_wp_trash_meta_status' );
 	delete_post_meta( $post_id, '_wp_trash_meta_time' );
@@ -3295,10 +3322,12 @@ function wp_untrash_post( $post_id = 0 ) {
 	 * Fires after a post is restored from the Trash.
 	 *
 	 * @since 2.9.0
+	 * @since 5.6.0 The `$previous_status` parameter was added.
 	 *
-	 * @param int $post_id Post ID.
+	 * @param int    $post_id         Post ID.
+	 * @param string $previous_status The status of the post at the point where it was trashed.
 	 */
-	do_action( 'untrashed_post', $post_id );
+	do_action( 'untrashed_post', $post_id, $previous_status );
 
 	return $post;
 }
@@ -7513,3 +7542,19 @@ function wp_get_original_image_url( $attachment_id ) {
 	 */
 	return apply_filters( 'wp_get_original_image_url', $original_image_url, $attachment_id );
 }
+
+/**
+ * Filter callback which sets the status of an untrashed post to its previous status.
+ *
+ * This can be used as a callback on the `wp_untrash_post_status` filter.
+ *
+ * @since 5.6.0
+ *
+ * @param string $new_status      The new status of the post being restored.
+ * @param int    $post_id         The ID of the post being restored.
+ * @param string $previous_status The status of the post at the point where it was trashed.
+ * @return string The new status of the post.
+ */
+function wp_untrash_post_set_previous_status( $new_status, $post_id, $previous_status ) {
+	return $previous_status;
+}
diff --git a/wp-includes/version.php b/wp-includes/version.php
index 6a8aa2067c..ea33d2de3b 100644
--- a/wp-includes/version.php
+++ b/wp-includes/version.php
@@ -13,7 +13,7 @@
  *
  * @global string $wp_version
  */
-$wp_version = '5.6-alpha-49124';
+$wp_version = '5.6-alpha-49125';
 
 /**
  * Holds the WordPress DB revision, increments when changes are made to the WordPress DB schema.