Does Apple Pencil work on iPad Air 2?

The Apple Pencil just sounds so nice, but I only have an iPad Air 1, and Apple Pencil probably won't work with that. But then again, I'm planning to buy an iPad Air 2 or wait for an iPad Air 3 to come out after some time. Does Apple Pencil work on iPad Air 2, or will it work on future non-Pro iPads? I know, I'm not talking to Apple here, and you don't have to remind me of that.