diff --git a/src/core/prompts/tools/__tests__/filter-tools-for-mode.spec.ts b/src/core/prompts/tools/__tests__/filter-tools-for-mode.spec.ts
index 0b776a2bad9..e0d7a132414 100644
--- a/src/core/prompts/tools/__tests__/filter-tools-for-mode.spec.ts
+++ b/src/core/prompts/tools/__tests__/filter-tools-for-mode.spec.ts
@@ -1,6 +1,8 @@
 // npx vitest run core/prompts/tools/__tests__/filter-tools-for-mode.spec.ts
 
 import type OpenAI from "openai"
+import type { McpHub } from "../../../../services/mcp/McpHub"
+import type { McpServer } from "@roo-code/types"
 
 import { filterNativeToolsForMode } from "../filter-tools-for-mode"
 
@@ -15,6 +17,12 @@ function makeTool(name: string): OpenAI.Chat.ChatCompletionTool {
 	} as OpenAI.Chat.ChatCompletionTool
 }
 
+function createMockMcpHub(servers: McpServer[]): McpHub {
+	return {
+		getServers: () => servers,
+	} as unknown as McpHub
+}
+
 describe("filterNativeToolsForMode - disabledTools", () => {
 	const nativeTools: OpenAI.Chat.ChatCompletionTool[] = [
 		makeTool("execute_command"),
@@ -89,3 +97,109 @@ describe("filterNativeToolsForMode - disabledTools", () => {
 		expect(resultNames).not.toContain("edit")
 	})
 })
+
+describe("filterNativeToolsForMode - access_mcp_resource with resource templates", () => {
+	const toolsWithMcpResource: OpenAI.Chat.ChatCompletionTool[] = [
+		makeTool("read_file"),
+		makeTool("access_mcp_resource"),
+	]
+
+	it("includes access_mcp_resource when server has only resource templates", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "template-server",
+				config: "{}",
+				status: "connected",
+				resources: [],
+				resourceTemplates: [
+					{
+						uriTemplate: "test://resource/{id}",
+						name: "Test Resource",
+					},
+				],
+			},
+		])
+
+		const result = filterNativeToolsForMode(
+			toolsWithMcpResource,
+			"code",
+			undefined,
+			undefined,
+			undefined,
+			undefined,
+			mcpHub,
+		)
+
+		const resultNames = result.map((t) => (t as any).function.name)
+		expect(resultNames).toContain("access_mcp_resource")
+	})
+
+	it("includes access_mcp_resource when server has only static resources", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "static-server",
+				config: "{}",
+				status: "connected",
+				resources: [
+					{
+						uri: "test://static",
+						name: "Static Resource",
+					},
+				],
+				resourceTemplates: [],
+			},
+		])
+
+		const result = filterNativeToolsForMode(
+			toolsWithMcpResource,
+			"code",
+			undefined,
+			undefined,
+			undefined,
+			undefined,
+			mcpHub,
+		)
+
+		const resultNames = result.map((t) => (t as any).function.name)
+		expect(resultNames).toContain("access_mcp_resource")
+	})
+
+	it("excludes access_mcp_resource when no mcpHub is provided", () => {
+		const result = filterNativeToolsForMode(
+			toolsWithMcpResource,
+			"code",
+			undefined,
+			undefined,
+			undefined,
+			undefined,
+		)
+
+		const resultNames = result.map((t) => (t as any).function.name)
+		expect(resultNames).not.toContain("access_mcp_resource")
+	})
+
+	it("excludes access_mcp_resource when server has no resources or templates", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "empty-server",
+				config: "{}",
+				status: "connected",
+				resources: [],
+				resourceTemplates: [],
+			},
+		])
+
+		const result = filterNativeToolsForMode(
+			toolsWithMcpResource,
+			"code",
+			undefined,
+			undefined,
+			undefined,
+			undefined,
+			mcpHub,
+		)
+
+		const resultNames = result.map((t) => (t as any).function.name)
+		expect(resultNames).not.toContain("access_mcp_resource")
+	})
+})
diff --git a/src/core/prompts/tools/filter-tools-for-mode.ts b/src/core/prompts/tools/filter-tools-for-mode.ts
index fdd41e7e330..c06c822a30a 100644
--- a/src/core/prompts/tools/filter-tools-for-mode.ts
+++ b/src/core/prompts/tools/filter-tools-for-mode.ts
@@ -330,11 +330,15 @@ export function filterNativeToolsForMode(
 }
 
 /**
- * Helper function to check if any MCP server has resources available
+ * Helper function to check if any MCP server has resources or resource templates available
  */
 function hasAnyMcpResources(mcpHub: McpHub): boolean {
 	const servers = mcpHub.getServers()
-	return servers.some((server) => server.resources && server.resources.length > 0)
+	return servers.some(
+		(server) =>
+			(server.resources && server.resources.length > 0) ||
+			(server.resourceTemplates && server.resourceTemplates.length > 0),
+	)
 }
 
 /**
diff --git a/src/core/prompts/tools/native-tools/__tests__/access_mcp_resource.spec.ts b/src/core/prompts/tools/native-tools/__tests__/access_mcp_resource.spec.ts
new file mode 100644
index 00000000000..8f40106bfd4
--- /dev/null
+++ b/src/core/prompts/tools/native-tools/__tests__/access_mcp_resource.spec.ts
@@ -0,0 +1,181 @@
+// npx vitest run core/prompts/tools/native-tools/__tests__/access_mcp_resource.spec.ts
+
+import type OpenAI from "openai"
+
+import type { McpServer } from "@roo-code/types"
+
+import type { McpHub } from "../../../../../services/mcp/McpHub"
+import { createAccessMcpResourceTool } from "../access_mcp_resource"
+
+// Helper type to access function tools
+type FunctionTool = OpenAI.Chat.ChatCompletionTool & { type: "function" }
+
+// Helper to get the function property from a tool
+const getFunction = (tool: OpenAI.Chat.ChatCompletionTool) => (tool as FunctionTool).function
+
+function createMockMcpHub(servers: McpServer[]): McpHub {
+	return {
+		getServers: () => servers,
+	} as unknown as McpHub
+}
+
+describe("createAccessMcpResourceTool", () => {
+	it("returns base description when no mcpHub is provided", () => {
+		const tool = createAccessMcpResourceTool()
+		const desc = getFunction(tool).description!
+		expect(desc).toContain("Request to access a resource provided by a connected MCP server")
+		expect(desc).not.toContain("Available MCP Resources")
+	})
+
+	it("returns base description when mcpHub has no servers", () => {
+		const mcpHub = createMockMcpHub([])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).not.toContain("Available MCP Resources")
+	})
+
+	it("returns base description when servers have no resources or templates", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "test-server",
+				config: "{}",
+				status: "connected",
+				tools: [],
+				resources: [],
+				resourceTemplates: [],
+			},
+		])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).not.toContain("Available MCP Resources")
+	})
+
+	it("includes static resources in description", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "weather-server",
+				config: "{}",
+				status: "connected",
+				resources: [
+					{
+						uri: "weather://current",
+						name: "Current Weather",
+						description: "Get current weather data",
+					},
+				],
+				resourceTemplates: [],
+			},
+		])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).toContain("Available MCP Resources")
+		expect(desc).toContain('Server "weather-server" resources:')
+		expect(desc).toContain("weather://current")
+		expect(desc).toContain("Current Weather")
+		expect(desc).toContain("Get current weather data")
+	})
+
+	it("includes resource templates in description", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "orbitcity",
+				config: "{}",
+				status: "connected",
+				resources: [],
+				resourceTemplates: [
+					{
+						uriTemplate: "orbitcity://event/details/{identifier}",
+						name: "Event Details",
+						description: "Get event details by identifier",
+					},
+					{
+						uriTemplate: "orbitcity://system/history/{machine_type}/{serial}",
+						name: "System History",
+						description: "Get system history",
+					},
+				],
+			},
+		])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).toContain("Available MCP Resources")
+		expect(desc).toContain('Server "orbitcity" resources:')
+		expect(desc).toContain("orbitcity://event/details/{identifier}")
+		expect(desc).toContain("Event Details")
+		expect(desc).toContain("orbitcity://system/history/{machine_type}/{serial}")
+		expect(desc).toContain("System History")
+	})
+
+	it("includes both resources and resource templates from the same server", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "data-server",
+				config: "{}",
+				status: "connected",
+				resources: [
+					{
+						uri: "data://status",
+						name: "Server Status",
+					},
+				],
+				resourceTemplates: [
+					{
+						uriTemplate: "data://records/{id}",
+						name: "Record by ID",
+					},
+				],
+			},
+		])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).toContain("data://status")
+		expect(desc).toContain("data://records/{id}")
+	})
+
+	it("includes resources from multiple servers", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "server-a",
+				config: "{}",
+				status: "connected",
+				resources: [{ uri: "a://resource", name: "Resource A" }],
+			},
+			{
+				name: "server-b",
+				config: "{}",
+				status: "connected",
+				resourceTemplates: [{ uriTemplate: "b://template/{id}", name: "Template B" }],
+			},
+		])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).toContain('Server "server-a" resources:')
+		expect(desc).toContain("a://resource")
+		expect(desc).toContain('Server "server-b" resources:')
+		expect(desc).toContain("b://template/{id}")
+	})
+
+	it("handles resources without descriptions", () => {
+		const mcpHub = createMockMcpHub([
+			{
+				name: "minimal-server",
+				config: "{}",
+				status: "connected",
+				resources: [{ uri: "min://data", name: "Data" }],
+			},
+		])
+		const tool = createAccessMcpResourceTool(mcpHub)
+		const desc = getFunction(tool).description!
+		expect(desc).toContain("min://data (Data)")
+	})
+
+	it("always has correct tool name and parameters", () => {
+		const tool = createAccessMcpResourceTool()
+		const fn = getFunction(tool)
+		expect(fn.name).toBe("access_mcp_resource")
+		expect(fn.parameters).toBeDefined()
+		const params = fn.parameters as Record<string, unknown>
+		expect(params.required).toContain("server_name")
+		expect(params.required).toContain("uri")
+	})
+})
diff --git a/src/core/prompts/tools/native-tools/access_mcp_resource.ts b/src/core/prompts/tools/native-tools/access_mcp_resource.ts
index 2876fcf5604..fc87ba7edd0 100644
--- a/src/core/prompts/tools/native-tools/access_mcp_resource.ts
+++ b/src/core/prompts/tools/native-tools/access_mcp_resource.ts
@@ -1,41 +1,102 @@
 import type OpenAI from "openai"
+import type { McpHub } from "../../../../services/mcp/McpHub"
 
-const ACCESS_MCP_RESOURCE_DESCRIPTION = `Request to access a resource provided by a connected MCP server. Resources represent data sources that can be used as context, such as files, API responses, or system information.
+const BASE_DESCRIPTION = `Request to access a resource provided by a connected MCP server. Resources represent data sources that can be used as context, such as files, API responses, or system information.
 
 Parameters:
 - server_name: (required) The name of the MCP server providing the resource
-- uri: (required) The URI identifying the specific resource to access
-
-Example: Accessing a weather resource
-{ "server_name": "weather-server", "uri": "weather://san-francisco/current" }
-
-Example: Accessing a file resource from an MCP server
-{ "server_name": "filesystem-server", "uri": "file:///path/to/data.json" }`
+- uri: (required) The URI identifying the specific resource to access`
 
 const SERVER_NAME_PARAMETER_DESCRIPTION = `The name of the MCP server providing the resource`
 
 const URI_PARAMETER_DESCRIPTION = `The URI identifying the specific resource to access`
 
-export default {
-	type: "function",
-	function: {
-		name: "access_mcp_resource",
-		description: ACCESS_MCP_RESOURCE_DESCRIPTION,
-		strict: true,
-		parameters: {
-			type: "object",
-			properties: {
-				server_name: {
-					type: "string",
-					description: SERVER_NAME_PARAMETER_DESCRIPTION,
-				},
-				uri: {
-					type: "string",
-					description: URI_PARAMETER_DESCRIPTION,
+/**
+ * Builds a dynamic description for the access_mcp_resource tool that includes
+ * available resources and resource templates from connected MCP servers.
+ * This gives the model the information it needs to construct valid resource URIs.
+ */
+function buildDescription(mcpHub?: McpHub): string {
+	if (!mcpHub) {
+		return BASE_DESCRIPTION
+	}
+
+	const servers = mcpHub.getServers()
+	const serverSections: string[] = []
+
+	for (const server of servers) {
+		const resourceLines: string[] = []
+
+		if (server.resources && server.resources.length > 0) {
+			for (const resource of server.resources) {
+				let line = `  - ${resource.uri}`
+				if (resource.name) {
+					line += ` (${resource.name})`
+				}
+				if (resource.description) {
+					line += `: ${resource.description}`
+				}
+				resourceLines.push(line)
+			}
+		}
+
+		if (server.resourceTemplates && server.resourceTemplates.length > 0) {
+			for (const template of server.resourceTemplates) {
+				let line = `  - ${template.uriTemplate}`
+				if (template.name) {
+					line += ` (${template.name})`
+				}
+				if (template.description) {
+					line += `: ${template.description}`
+				}
+				resourceLines.push(line)
+			}
+		}
+
+		if (resourceLines.length > 0) {
+			serverSections.push(`\nServer "${server.name}" resources:\n${resourceLines.join("\n")}`)
+		}
+	}
+
+	if (serverSections.length === 0) {
+		return BASE_DESCRIPTION
+	}
+
+	return `${BASE_DESCRIPTION}
+
+Available MCP Resources:
+${serverSections.join("\n")}`
+}
+
+/**
+ * Creates the access_mcp_resource tool definition with a dynamic description
+ * that includes available resources from connected MCP servers.
+ */
+export function createAccessMcpResourceTool(mcpHub?: McpHub): OpenAI.Chat.ChatCompletionTool {
+	return {
+		type: "function",
+		function: {
+			name: "access_mcp_resource",
+			description: buildDescription(mcpHub),
+			strict: true,
+			parameters: {
+				type: "object",
+				properties: {
+					server_name: {
+						type: "string",
+						description: SERVER_NAME_PARAMETER_DESCRIPTION,
+					},
+					uri: {
+						type: "string",
+						description: URI_PARAMETER_DESCRIPTION,
+					},
 				},
+				required: ["server_name", "uri"],
+				additionalProperties: false,
 			},
-			required: ["server_name", "uri"],
-			additionalProperties: false,
 		},
-	},
-} satisfies OpenAI.Chat.ChatCompletionTool
+	}
+}
+
+// Default export for backward compatibility (static definition without resource info)
+export default createAccessMcpResourceTool()
diff --git a/src/core/prompts/tools/native-tools/index.ts b/src/core/prompts/tools/native-tools/index.ts
index 758914d2d65..59cb5b1de18 100644
--- a/src/core/prompts/tools/native-tools/index.ts
+++ b/src/core/prompts/tools/native-tools/index.ts
@@ -1,5 +1,5 @@
 import type OpenAI from "openai"
-import accessMcpResource from "./access_mcp_resource"
+import accessMcpResource, { createAccessMcpResourceTool } from "./access_mcp_resource"
 import { apply_diff } from "./apply_diff"
 import applyPatch from "./apply_patch"
 import askFollowupQuestion from "./ask_followup_question"
@@ -25,12 +25,16 @@ export { getMcpServerTools } from "./mcp_server"
 export { convertOpenAIToolToAnthropic, convertOpenAIToolsToAnthropic } from "./converters"
 export type { ReadFileToolOptions } from "./read_file"
 
+import type { McpHub } from "../../../../services/mcp/McpHub"
+
 /**
  * Options for customizing the native tools array.
  */
 export interface NativeToolsOptions {
 	/** Whether the model supports image processing (default: false) */
 	supportsImages?: boolean
+	/** MCP hub for generating dynamic resource descriptions */
+	mcpHub?: McpHub
 }
 
 /**
@@ -40,14 +44,14 @@ export interface NativeToolsOptions {
  * @returns Array of native tool definitions
  */
 export function getNativeTools(options: NativeToolsOptions = {}): OpenAI.Chat.ChatCompletionTool[] {
-	const { supportsImages = false } = options
+	const { supportsImages = false, mcpHub } = options
 
 	const readFileOptions: ReadFileToolOptions = {
 		supportsImages,
 	}
 
 	return [
-		accessMcpResource,
+		mcpHub ? createAccessMcpResourceTool(mcpHub) : accessMcpResource,
 		apply_diff,
 		applyPatch,
 		askFollowupQuestion,
diff --git a/src/core/task/build-tools.ts b/src/core/task/build-tools.ts
index c32d8f6f9b2..58336e2d4b0 100644
--- a/src/core/task/build-tools.ts
+++ b/src/core/task/build-tools.ts
@@ -108,9 +108,10 @@ export async function buildNativeToolsArrayWithRestrictions(options: BuildToolsO
 	// Check if the model supports images for read_file tool description.
 	const supportsImages = modelInfo?.supportsImages ?? false
 
-	// Build native tools with dynamic read_file tool based on settings.
+	// Build native tools with dynamic read_file tool and MCP resource descriptions.
 	const nativeTools = getNativeTools({
 		supportsImages,
+		mcpHub: mcpHub ?? undefined,
 	})
 
 	// Filter native tools based on mode restrictions.