diff --git a/boards/arm/stm32/nucleo-g431rb/Kconfig b/boards/arm/stm32/nucleo-g431rb/Kconfig
index 8ef0e9b152..f61cd04c7b 100644
--- a/boards/arm/stm32/nucleo-g431rb/Kconfig
+++ b/boards/arm/stm32/nucleo-g431rb/Kconfig
@@ -5,4 +5,12 @@
 
 if ARCH_BOARD_NUCLEO_G431RB
 
+if SENSORS_QENCODER
+
+config NUCLEO_G431RB_QETIMER
+	int "Timer to use with QE encoder"
+	default 2
+
+endif # SENSORS_QENCODER
+
 endif # ARCH_BOARD_NUCLEO_G431RB
diff --git a/boards/arm/stm32/nucleo-g431rb/configs/qenco/defconfig b/boards/arm/stm32/nucleo-g431rb/configs/qenco/defconfig
new file mode 100644
index 0000000000..7007208278
--- /dev/null
+++ b/boards/arm/stm32/nucleo-g431rb/configs/qenco/defconfig
@@ -0,0 +1,60 @@
+#
+# 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_ARCH_FPU is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_CMDPARMS is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_PS is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-g431rb"
+CONFIG_ARCH_BOARD_NUCLEO_G431RB=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32G431R=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BUILTIN=y
+CONFIG_EXAMPLES_QENCODER=y
+CONFIG_EXAMPLES_QENCODER_HAVE_MAXPOS=y
+CONFIG_EXAMPLES_QENCODER_MAXPOS=8192
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_INTELHEX_BINARY=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_RAM_SIZE=22528
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SENSORS=y
+CONFIG_SENSORS_QENCODER=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_QENCODER_DISABLE_EXTEND16BTIMERS=y
+CONFIG_STM32_QENCODER_SAMPLE_FDTS_2=y
+CONFIG_STM32_TIM2=y
+CONFIG_STM32_TIM2_QE=y
+CONFIG_STM32_TIM2_QEPSC=0
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_TESTING_OSTEST=y
+CONFIG_TESTING_OSTEST_STACKSIZE=1024
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USER_ENTRYPOINT="nsh_main"
diff --git a/boards/arm/stm32/nucleo-g431rb/include/board.h b/boards/arm/stm32/nucleo-g431rb/include/board.h
index 030ba13d13..36af6e1183 100644
--- a/boards/arm/stm32/nucleo-g431rb/include/board.h
+++ b/boards/arm/stm32/nucleo-g431rb/include/board.h
@@ -219,6 +219,11 @@
 
 /* Alternate function pin selections ****************************************/
 
+/* TIM2 input ***************************************************************/
+
+#define GPIO_TIM2_CH1IN (GPIO_TIM2_CH1IN_3 | GPIO_PULLUP) /* PA15 */
+#define GPIO_TIM2_CH2IN (GPIO_TIM2_CH2IN_2 | GPIO_PULLUP) /* PB3 */
+
 /* USART2 (STLINK Virtual COM Port) */
 
 #define GPIO_USART2_TX     GPIO_USART2_TX_1 /* PA2 */
diff --git a/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c b/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c
index 04ffbe62cd..72ca25aaed 100644
--- a/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c
+++ b/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c
@@ -37,6 +37,10 @@
 #  include <nuttx/input/buttons.h>
 #endif
 
+#ifdef CONFIG_SENSORS_QENCODER
+#  include "board_qencoder.h"
+#endif
+
 #include "nucleo-g431rb.h"
 
 /****************************************************************************
@@ -132,6 +136,19 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SENSORS_QENCODER
+  /* Initialize and register the qencoder driver */
+
+  ret = board_qencoder_initialize(0, CONFIG_NUCLEO_G431RB_QETIMER);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the qencoder: %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }