diff --git a/sphinx/ext/napoleon/docstring.py b/sphinx/ext/napoleon/docstring.py
index 2e16c40d1..760c8feed 100644
--- a/sphinx/ext/napoleon/docstring.py
+++ b/sphinx/ext/napoleon/docstring.py
@@ -602,17 +602,8 @@ class GoogleDocstring:
     def _parse_attributes_section(self, section: str) -> List[str]:
         lines = []
         for _name, _type, _desc in self._consume_fields():
-            if not _type and self._what in ('class', 'exception') and self._obj:
-                if self._config.napoleon_attr_annotations:
-                    # cache the class annotations
-                    if not hasattr(self, "_annotations"):
-                        localns = getattr(self._config, "autodoc_type_aliases", {}) or {}
-                        localns.update(getattr(
-                                       self._config, "napoleon_type_aliases", {}
-                                       ) or {})
-                        self._annotations = get_type_hints(self._obj, None, localns)
-                    if _name in self._annotations:
-                        _type = stringify_annotation(self._annotations[_name])
+            if not _type:
+                _type = self._lookup_annotation(_name)
             if self._config.napoleon_use_ivar:
                 _name = self._qualify_name(_name, self._obj)
                 field = ':ivar %s: ' % _name
@@ -817,6 +808,21 @@ class GoogleDocstring:
                 lines = lines[start:end + 1]
         return lines
 
+    def _lookup_annotation(self, _name: str) -> str:
+        if self._config.napoleon_attr_annotations:
+            if self._what in ("class", "exception") and self._obj:
+                # cache the class annotations
+                if not hasattr(self, "_annotations"):
+                    localns = getattr(self._config, "autodoc_type_aliases", {}) or {}
+                    localns.update(getattr(
+                                   self._config, "napoleon_type_aliases", {}
+                                   ) or {})
+                    self._annotations = get_type_hints(self._obj, None, localns)
+                if _name in self._annotations:
+                    return stringify_annotation(self._annotations[_name])
+        # No annotation found
+        return ""
+
 
 def _recombine_set_tokens(tokens: List[str]) -> List[str]:
     token_queue = collections.deque(tokens)
@@ -1121,6 +1127,9 @@ class NumpyDocstring(GoogleDocstring):
         _name, _type = _name.strip(), _type.strip()
         _name = self._escape_args_and_kwargs(_name)
 
+        if parse_type and not _type:
+            _type = self._lookup_annotation(_name)
+
         if prefer_type and not _type:
             _type, _name = _name, _type
 
diff --git a/tests/ext_napoleon_pep526_data_numpy.py b/tests/ext_napoleon_pep526_data_numpy.py
index eaf81950e..d13ba31fb 100644
--- a/tests/ext_napoleon_pep526_data_numpy.py
+++ b/tests/ext_napoleon_pep526_data_numpy.py
@@ -12,10 +12,10 @@ class PEP526NumpyClass:
 
     Attributes
     ----------
-    attr 1:
+    attr1:
         Attr1 description
 
-    attr 2:
+    attr2:
         Attr2 description
     """
     attr1: int
diff --git a/tests/test_ext_napoleon_docstring.py b/tests/test_ext_napoleon_docstring.py
index 19f0d3e5a..7c73f94d5 100644
--- a/tests/test_ext_napoleon_docstring.py
+++ b/tests/test_ext_napoleon_docstring.py
@@ -25,9 +25,6 @@ from sphinx.ext.napoleon.docstring import (GoogleDocstring, NumpyDocstring,
                                            _token_type, _tokenize_type_spec)
 
 if sys.version_info >= (3, 6):
-    # TODO: enable imports when used
-    # import ext_napoleon_pep526_data_google
-    # import ext_napoleon_pep526_data_numpy
     from ext_napoleon_pep526_data_google import PEP526GoogleClass
     from ext_napoleon_pep526_data_numpy import PEP526NumpyClass
 
@@ -1100,7 +1097,7 @@ Do as you please
 """
         self.assertEqual(expected, actual)
 
-    def test_pep_526_annotations(self):
+    def test_pep526_annotations(self):
         if sys.version_info >= (3, 6):
             # Test class attributes annotations
             config = Config(
@@ -1125,9 +1122,6 @@ Sample class with PEP 526 annotations and google docstring
 """
             self.assertEqual(expected, actual)
 
-            # test module-level variables documentation
-            # TODO: use the ext_napoleon_pep526_data_google.module_level_var for that
-
 
 class NumpyDocstringTest(BaseDocstringTest):
     docstrings = [(
@@ -2439,10 +2433,9 @@ class TestNumpyDocstring:
 
         assert actual == expected
 
-    def test_pep_526_annotations(self):
+    def test_pep526_annotations(self):
         if sys.version_info >= (3, 6):
             # test class attributes annotations
-            # TODO: change this test after implementation in Numpy doc style
             config = Config(
                 napoleon_attr_annotations=True
             )
@@ -2451,16 +2444,17 @@ class TestNumpyDocstring:
             expected = """\
 Sample class with PEP 526 annotations and numpy docstring
 
-.. attribute:: attr 1
+.. attribute:: attr1
 
    Attr1 description
 
-.. attribute:: attr 2
+   :type: int
+
+.. attribute:: attr2
 
    Attr2 description
+
+   :type: str
 """
             print(actual)
             assert expected == actual
-
-            # test module-level variables documentation
-            # TODO: use the ext_napoleon_pep526_data_google.module_level_var for that