diff --git a/CHANGELOG.md b/CHANGELOG.md
index 63b843d20..23996c01e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 ## Master (Unreleased)
 
+- Add support for `assert_true` and `assert_false` to `RSpec/Rails/MinitestAssertions`. ([@ydah])
 - Support asserts with messages in `Rspec/BeEmpty`. ([@G-Rath])
 - Add support for `assert_empty`, `assert_not_empty` and `refute_empty` to `RSpec/Rails/MinitestAssertions`. ([@ydah])
 - Support correcting some `*_predicate` assertions in `RSpec/Rails/MinitestAssertions`. ([@G-Rath])
diff --git a/config/default.yml b/config/default.yml
index e60e75ffd..f96ec72ba 100644
--- a/config/default.yml
+++ b/config/default.yml
@@ -1172,7 +1172,7 @@ RSpec/Rails/InferredSpecType:
     views: view
 
 RSpec/Rails/MinitestAssertions:
-  Description: Check if using Minitest matchers.
+  Description: Check if using Minitest-like matchers.
   Enabled: pending
   VersionAdded: '2.17'
   Reference: https://www.rubydoc.info/gems/rubocop-rspec/RuboCop/Cop/RSpec/Rails/MinitestAssertions
diff --git a/docs/modules/ROOT/pages/cops_rspec_rails.adoc b/docs/modules/ROOT/pages/cops_rspec_rails.adoc
index d9aead83c..5149f60fd 100644
--- a/docs/modules/ROOT/pages/cops_rspec_rails.adoc
+++ b/docs/modules/ROOT/pages/cops_rspec_rails.adoc
@@ -252,7 +252,10 @@ end
 | -
 |===
 
-Check if using Minitest matchers.
+Check if using Minitest-like matchers.
+
+Check the use of minitest-like matchers
+starting with `assert_` or `refute_`.
 
 === Examples
 
@@ -265,6 +268,8 @@ assert_not_includes a, b
 refute_equal(a, b)
 assert_nil a
 refute_empty(b)
+assert_true(a)
+assert_false(a)
 
 # good
 expect(b).to eq(a)
@@ -273,6 +278,8 @@ expect(a).not_to include(b)
 expect(b).not_to eq(a)
 expect(a).to eq(nil)
 expect(a).not_to be_empty
+expect(a).to be(true)
+expect(a).to be(false)
 ----
 
 === References
diff --git a/lib/rubocop/cop/rspec/rails/minitest_assertions.rb b/lib/rubocop/cop/rspec/rails/minitest_assertions.rb
index 8f25d47c5..16f64f3a2 100644
--- a/lib/rubocop/cop/rspec/rails/minitest_assertions.rb
+++ b/lib/rubocop/cop/rspec/rails/minitest_assertions.rb
@@ -4,7 +4,10 @@ module RuboCop
   module Cop
     module RSpec
       module Rails
-        # Check if using Minitest matchers.
+        # Check if using Minitest-like matchers.
+        #
+        # Check the use of minitest-like matchers
+        # starting with `assert_` or `refute_`.
         #
         # @example
         #   # bad
@@ -14,6 +17,8 @@ module Rails
         #   refute_equal(a, b)
         #   assert_nil a
         #   refute_empty(b)
+        #   assert_true(a)
+        #   assert_false(a)
         #
         #   # good
         #   expect(b).to eq(a)
@@ -22,6 +27,8 @@ module Rails
         #   expect(b).not_to eq(a)
         #   expect(a).to eq(nil)
         #   expect(a).not_to be_empty
+        #   expect(a).to be(true)
+        #   expect(a).to be(false)
         #
         class MinitestAssertions < Base
           extend AutoCorrector
@@ -215,6 +222,46 @@ def assertion
             end
           end
 
+          # :nodoc:
+          class TrueAssertion < BasicAssertion
+            MATCHERS = %i[
+              assert_true
+            ].freeze
+
+            # @!method self.minitest_assertion(node)
+            def_node_matcher 'self.minitest_assertion', <<~PATTERN # rubocop:disable InternalAffairs/NodeMatcherDirective
+              (send nil? {:assert_true} $_ $_?)
+            PATTERN
+
+            def self.match(actual, failure_message)
+              new(nil, actual, failure_message.first)
+            end
+
+            def assertion
+              'be(true)'
+            end
+          end
+
+          # :nodoc:
+          class FalseAssertion < BasicAssertion
+            MATCHERS = %i[
+              assert_false
+            ].freeze
+
+            # @!method self.minitest_assertion(node)
+            def_node_matcher 'self.minitest_assertion', <<~PATTERN # rubocop:disable InternalAffairs/NodeMatcherDirective
+              (send nil? {:assert_false} $_ $_?)
+            PATTERN
+
+            def self.match(actual, failure_message)
+              new(nil, actual, failure_message.first)
+            end
+
+            def assertion
+              'be(false)'
+            end
+          end
+
           MSG = 'Use `%<prefer>s`.'
 
           # TODO: replace with `BasicAssertion.subclasses` in Ruby 3.1+
diff --git a/spec/rubocop/cop/rspec/rails/minitest_assertions_spec.rb b/spec/rubocop/cop/rspec/rails/minitest_assertions_spec.rb
index 0fdbe8af5..de3f81bf9 100644
--- a/spec/rubocop/cop/rspec/rails/minitest_assertions_spec.rb
+++ b/spec/rubocop/cop/rspec/rails/minitest_assertions_spec.rb
@@ -508,6 +508,100 @@
     end
   end
 
+  context 'with boolean assertions' do
+    it 'registers an offense when using `assert_true`' do
+      expect_offense(<<~RUBY)
+        assert_true(a)
+        ^^^^^^^^^^^^^^ Use `expect(a).to be(true)`.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to be(true)
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_true` with no parentheses' do
+      expect_offense(<<~RUBY)
+        assert_true a
+        ^^^^^^^^^^^^^ Use `expect(a).to be(true)`.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to be(true)
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_true` with failure message' do
+      expect_offense(<<~RUBY)
+        assert_true a, "must be true"
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Use `expect(a).to(be(true), "must be true")`.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to(be(true), "must be true")
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_true` with ' \
+       'multi-line arguments' do
+      expect_offense(<<~RUBY)
+        assert_true(a,
+        ^^^^^^^^^^^^^^ Use `expect(a).to(be(true), "must be true")`.
+                    "must be true")
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to(be(true), "must be true")
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_false`' do
+      expect_offense(<<~RUBY)
+        assert_false(a)
+        ^^^^^^^^^^^^^^^ Use `expect(a).to be(false)`.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to be(false)
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_false` with no parentheses' do
+      expect_offense(<<~RUBY)
+        assert_false a
+        ^^^^^^^^^^^^^^ Use `expect(a).to be(false)`.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to be(false)
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_false` with failure message' do
+      expect_offense(<<~RUBY)
+        assert_false a, "must be false"
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Use `expect(a).to(be(false), "must be false")`.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to(be(false), "must be false")
+      RUBY
+    end
+
+    it 'registers an offense when using `assert_false` with ' \
+       'multi-line arguments' do
+      expect_offense(<<~RUBY)
+        assert_false(a,
+        ^^^^^^^^^^^^^^^ Use `expect(a).to(be(false), "must be false")`.
+                     "must be false")
+      RUBY
+
+      expect_correction(<<~RUBY)
+        expect(a).to(be(false), "must be false")
+      RUBY
+    end
+  end
+
   context 'with predicate assertions' do
     it 'registers an offense when using `assert_predicate` with ' \
        'an actual predicate' do