diff --git a/scripts/utils/migrate_includes.py b/scripts/utils/migrate_includes.py
new file mode 100644
index 00000000000..557ee2c52ce
--- /dev/null
+++ b/scripts/utils/migrate_includes.py
@@ -0,0 +1,73 @@
+"""
+Utility script to migrate Zephyr-based projects to the new <zephyr/...> include
+prefix.
+
+Usage::
+
+    python $ZEPHYR_BASE/scripts/utils/migrate_includes.py \
+           -p path/to/zephyr-based-project
+
+Copyright (c) 2022 Nordic Semiconductor ASA
+SPDX-License-Identifier: Apache-2.0
+"""
+
+import argparse
+from pathlib import Path
+import re
+import sys
+
+
+ZEPHYR_BASE = Path(__file__).parents[2]
+
+EXTENSIONS = ("c", "cpp", "h", "dts", "dtsi", "rst", "S", "overlay", "ld")
+
+
+def update_includes(project, dry_run):
+    for p in project.glob("**/*"):
+        if not p.is_file() or not p.suffix or p.suffix[1:] not in EXTENSIONS:
+            continue
+
+        try:
+            with open(p) as f:
+                lines = f.readlines()
+        except UnicodeDecodeError:
+            print(f"File with invalid encoding: {p}, skipping", file=sys.stderr)
+            continue
+
+        content = ""
+        migrate = False
+        for line in lines:
+            m = re.match(r"^(.*)#include <(.*\.h)>(.*)$", line)
+            if (
+                m
+                and not m.group(2).startswith("zephyr/")
+                and (ZEPHYR_BASE / "include" / "zephyr" / m.group(2)).exists()
+            ):
+                content += (
+                    m.group(1)
+                    + "#include <zephyr/"
+                    + m.group(2)
+                    + ">"
+                    + m.group(3)
+                    + "\n"
+                )
+                migrate = True
+            else:
+                content += line
+
+        if migrate:
+            print(f"Updating {p}{' (dry run)' if dry_run else ''}")
+            if not dry_run:
+                with open(p, "w") as f:
+                    f.write(content)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "-p", "--project", type=Path, required=True, help="Zephyr-based project path"
+    )
+    parser.add_argument("--dry-run", action="store_true", help="Dry run")
+    args = parser.parse_args()
+
+    update_includes(args.project, args.dry_run)