Through classification of compact abelian group actions on semifinite injective factors, Jones and Takesaki introduced the notion of an action of a measured groupoid on a von Neumann algebra, which has proven to be an important tool for this kind of analysis. Elaborating on this notion, this work introduces a new concept of a measured groupoid action that may fit more perfectly into the groupoid setting. Yamanouchi also shows the existence of a canonical coproduct on every groupoid von Neumann algebra, which leads to a concept of a coaction of a measured groupoid. Yamanouchi then proves duality between these objects, extending Nakagami-Takesaki duality for (co)actions of locally compact groups on von Neumann algebras.