This book constitutes the thoroughly refereed post-conference proceedings of the 10th International Workshop on Programming Multi-Agents Systems held in Valencia, Spain, in June 2012. The 10 revised full papers presented were carefully selected from 14 submissions covering a wide range of topics in multi-agent system programming languages, including language design and efficient implementation, agent communication, and robot programming. I addition to these regular papers, the volume includes six papers from the Multi-Agent programming Contest 2012 (MAPC).