diff --git a/CHANGES b/CHANGES
index f42d1431b..a91349e5d 100644
--- a/CHANGES
+++ b/CHANGES
@@ -27,6 +27,8 @@ Bugs fixed
 ----------
 
 * #7886: autodoc: TypeError is raised on mocking generic-typed classes
+* #7935: autodoc: function signature is not shown when the function has a
+  parameter having ``inspect._empty`` as its default value
 * #7839: autosummary: cannot handle umlauts in function names
 * #7865: autosummary: Failed to extract summary line when abbreviations found
 * #7866: autosummary: Failed to extract correct summary line when docstring
diff --git a/sphinx/util/inspect.py b/sphinx/util/inspect.py
index 441f850d1..fc4e1c004 100644
--- a/sphinx/util/inspect.py
+++ b/sphinx/util/inspect.py
@@ -484,7 +484,13 @@ def signature(subject: Callable, bound_method: bool = False, follow_wrapped: boo
             if len(parameters) > 0:
                 parameters.pop(0)
 
-    return inspect.Signature(parameters, return_annotation=return_annotation)
+    # To allow to create signature object correctly for pure python functions,
+    # pass an internal parameter __validate_parameters__=False to Signature
+    #
+    # For example, this helps a function having a default value `inspect._empty`.
+    # refs: https://github.com/sphinx-doc/sphinx/issues/7935
+    return inspect.Signature(parameters, return_annotation=return_annotation,  # type: ignore
+                             __validate_parameters__=False)
 
 
 def stringify_signature(sig: inspect.Signature, show_annotation: bool = True,
diff --git a/tests/test_util_inspect.py b/tests/test_util_inspect.py
index 6a14dc1ac..c21eaaa16 100644
--- a/tests/test_util_inspect.py
+++ b/tests/test_util_inspect.py
@@ -130,7 +130,7 @@ def test_signature_partialmethod():
 
 def test_signature_annotations():
     from typing_test_data import (f0, f1, f2, f3, f4, f5, f6, f7, f8, f9, f10,
-                                  f11, f12, f13, f14, f15, f16, f17, f18, f19, f20, Node)
+                                  f11, f12, f13, f14, f15, f16, f17, f18, f19, f20, f21, Node)
 
     # Class annotations
     sig = inspect.signature(f0)
@@ -214,6 +214,10 @@ def test_signature_annotations():
     sig = inspect.signature(f19)
     assert stringify_signature(sig) == '(*args: int, **kwargs: str)'
 
+    # default value is inspect.Signature.empty
+    sig = inspect.signature(f21)
+    assert stringify_signature(sig) == "(arg1='whatever', arg2)"
+
     # type hints by string
     sig = inspect.signature(Node.children)
     if (3, 5, 0) <= sys.version_info < (3, 5, 3):
diff --git a/tests/typing_test_data.py b/tests/typing_test_data.py
index 70c3144a0..6c0357911 100644
--- a/tests/typing_test_data.py
+++ b/tests/typing_test_data.py
@@ -1,3 +1,4 @@
+from inspect import Signature
 from numbers import Integral
 from typing import Any, Dict, List, TypeVar, Union, Callable, Tuple, Optional
 
@@ -100,6 +101,9 @@ def f20() -> Optional[Union[int, str]]:
     pass
 
 
+def f21(arg1='whatever', arg2=Signature.empty):
+    pass
+
 
 class Node:
     def __init__(self, parent: Optional['Node']) -> None: