diff --git a/boards/arm/nrf53/nrf5340-dk/configs/pwm_cpuapp/defconfig b/boards/arm/nrf53/nrf5340-dk/configs/pwm_cpuapp/defconfig
new file mode 100644
index 0000000000..553c454345
--- /dev/null
+++ b/boards/arm/nrf53/nrf5340-dk/configs/pwm_cpuapp/defconfig
@@ -0,0 +1,56 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_STANDARD_SERIAL is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nrf5340-dk"
+CONFIG_ARCH_BOARD_NRF5340_DK=y
+CONFIG_ARCH_CHIP="nrf53"
+CONFIG_ARCH_CHIP_NRF5340=y
+CONFIG_ARCH_CHIP_NRF5340_CPUAPP=y
+CONFIG_ARCH_CHIP_NRF53=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_STDARG_H=y
+CONFIG_BOARD_LOOPSPERMSEC=5500
+CONFIG_BUILTIN=y
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FS_FAT=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MM_REGIONS=2
+CONFIG_NRF53_PWM0=y
+CONFIG_NRF53_PWM0_CH0=y
+CONFIG_NRF53_PWM0_CH1=y
+CONFIG_NRF53_PWM0_CH2=y
+CONFIG_NRF53_PWM0_CH3=y
+CONFIG_NRF53_PWM_MULTICHAN=y
+CONFIG_NRF53_UART0=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_PWM=y
+CONFIG_PWM_MULTICHAN=y
+CONFIG_PWM_NCHANNELS=4
+CONFIG_RAM_SIZE=524288
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=26
+CONFIG_START_MONTH=3
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/arm/nrf53/nrf5340-dk/include/board.h b/boards/arm/nrf53/nrf5340-dk/include/board.h
index a6d8b65ee5..35a82ab941 100644
--- a/boards/arm/nrf53/nrf5340-dk/include/board.h
+++ b/boards/arm/nrf53/nrf5340-dk/include/board.h
@@ -127,4 +127,18 @@
                                GPIO_VALUE_ONE | GPIO_PORT0 | GPIO_PIN(20))
 #endif
 
+/* PWM Pins *****************************************************************/
+
+/* PWM 0:
+ *   PWM0 CH0 - P1.10
+ *   PWM0 CH1 - P1.11
+ *   PWM0 CH2 - P1.12
+ *   PWM0 CH3 - P1.13
+ */
+
+#define NRF53_PWM0_CH0_PIN (GPIO_MCUSEL_APP | GPIO_OUTPUT | GPIO_PORT1 | GPIO_PIN(10))
+#define NRF53_PWM0_CH1_PIN (GPIO_MCUSEL_APP | GPIO_OUTPUT | GPIO_PORT1 | GPIO_PIN(11))
+#define NRF53_PWM0_CH2_PIN (GPIO_MCUSEL_APP | GPIO_OUTPUT | GPIO_PORT1 | GPIO_PIN(12))
+#define NRF53_PWM0_CH3_PIN (GPIO_MCUSEL_APP | GPIO_OUTPUT | GPIO_PORT1 | GPIO_PIN(13))
+
 #endif /* __BOARDS_ARM_NRF53_NRF5340_DK_INCLUDE_BOARD_H */
diff --git a/boards/arm/nrf53/nrf5340-dk/src/Makefile b/boards/arm/nrf53/nrf5340-dk/src/Makefile
index 8e7fc5c975..396959a90b 100644
--- a/boards/arm/nrf53/nrf5340-dk/src/Makefile
+++ b/boards/arm/nrf53/nrf5340-dk/src/Makefile
@@ -42,4 +42,8 @@ CSRCS += nrf53_timer.c
 endif
 endif
 
+ifeq ($(CONFIG_PWM),y)
+CSRCS += nrf53_pwm.c
+endif
+
 include $(TOPDIR)/boards/Board.mk
diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h b/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h
index 7548def7f1..5e211e7f39 100644
--- a/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h
+++ b/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h
@@ -94,5 +94,17 @@ int nrf53_bringup(void);
 int nrf53_timer_driver_setup(const char *devpath, int timer);
 #endif
 
+/****************************************************************************
+ * Name: nrf53_pwm_setup
+ *
+ * Description:
+ *   Initialize PWM driver.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_PWM
+int nrf53_pwm_setup(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM_NRF53_NRF5340_DK_SRC_NRF53_NRF5340_DK_H */
diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c b/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c
index 27b1061fee..d5ea34733f 100644
--- a/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c
+++ b/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c
@@ -99,6 +99,18 @@ int nrf53_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_PWM
+  /* Configure PWM driver */
+
+  ret = nrf53_pwm_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to initialize PWM driver: %d\n",
+             ret);
+    }
+#endif
+
 #ifdef CONFIG_NRF53_SOFTDEVICE_CONTROLLER
   ret = nrf53_sdc_initialize();
 
diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf53_pwm.c b/boards/arm/nrf53/nrf5340-dk/src/nrf53_pwm.c
new file mode 100644
index 0000000000..051a07c550
--- /dev/null
+++ b/boards/arm/nrf53/nrf5340-dk/src/nrf53_pwm.c
@@ -0,0 +1,90 @@
+/****************************************************************************
+ * boards/arm/nrf53/nrf5340-dk/src/nrf53_pwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <errno.h>
+#include <stddef.h>
+
+#include <nuttx/timers/pwm.h>
+#include <arch/board/board.h>
+
+#include "nrf53_pwm.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define NRF53_PWM (0)
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nrf53_pwm_setup
+ *
+ * Description:
+ *   Initialize PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+int nrf53_pwm_setup(void)
+{
+  static bool             initialized = false;
+  struct pwm_lowerhalf_s *pwm         = NULL;
+  int                     ret         = OK;
+
+  /* Have we already initialized? */
+
+  if (!initialized)
+    {
+      /* Call nrf53_pwminitialize() to get an instance of the PWM interface */
+
+      pwm = nrf53_pwminitialize(NRF53_PWM);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the NRF53 PWM lower half\n");
+          ret = -ENODEV;
+          goto errout;
+        }
+
+      /* Register the PWM driver at "/dev/pwm0" */
+
+      ret = pwm_register("/dev/pwm0", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          goto errout;
+        }
+
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+errout:
+  return ret;
+}