This perspective explores the imperative role of participatory research (PR) in advancing energy justice. We argue that using participatory research methods and principles at the intersection of energy and equity is a critical research advantage. Here, we contend that PR frameworks are integral to bridging the gap between energy justice theory and practice, emphasizing the need to move beyond decontextualized principles to address specific injustices related to race, class, gender, and coloniality. We present three energy justice case studies that used participatory approaches in diverse contexts: Amazon, Brazil; Philadelphia, Pennsylvania, USA; and Holyoke, Massachusetts, USA. These cases showcase the versatility of PR methods in understanding and addressing unique energy challenges within local communities. We highlight guiding principles of PR, emphasizing the importance of prioritizing community needs, respecting diverse expertise, building trust, designing for transparency and accountability, choosing appropriate methods, adapting and being flexible, and aiming for long-term collaboration. Lastly, our perspective suggests future directions for participatory energy justice research, including the potential for PR to inform multiscalar policy, practice, and advocacy. We underscore the importance of collaborations between university researchers and community organizations through citizen science, emphasizing the need for diverse disciplinary perspectives to effectively address complex energy justice challenges.