diff --git a/boards/seeed/xiao_rp2040/Kconfig.defconfig b/boards/seeed/xiao_rp2040/Kconfig.defconfig
new file mode 100644
index 00000000000..e2af832cdca
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/Kconfig.defconfig
@@ -0,0 +1,19 @@
+# Copyright (c) 2023 Seeed Studio inc.
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_XIAO_RP2040
+
+config RP2_FLASH_W25Q080
+	default y
+
+if I2C_DW
+
+config I2C_DW_CLOCK_SPEED
+	default 125
+
+endif # I2C_DW
+
+config USB_SELF_POWERED
+	default n
+
+endif # BOARD_XIAO_RP2040
diff --git a/boards/seeed/xiao_rp2040/Kconfig.xiao_rp2040 b/boards/seeed/xiao_rp2040/Kconfig.xiao_rp2040
new file mode 100644
index 00000000000..8bd3d0d2d15
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/Kconfig.xiao_rp2040
@@ -0,0 +1,7 @@
+# XIAO RP2040 board configuration
+
+# Copyright (c) 2023 Seeed Studio inc.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_XIAO_RP2040
+	select SOC_RP2040
diff --git a/boards/seeed/xiao_rp2040/board.cmake b/boards/seeed/xiao_rp2040/board.cmake
new file mode 100644
index 00000000000..4103e36e635
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/board.cmake
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: Apache-2.0
+
+board_runner_args(uf2 "--board-id=RPI-RP2")
+
+include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
diff --git a/boards/seeed/xiao_rp2040/board.yml b/boards/seeed/xiao_rp2040/board.yml
new file mode 100644
index 00000000000..7eaca915972
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/board.yml
@@ -0,0 +1,5 @@
+board:
+  name: xiao_rp2040
+  vendor: seeed
+  socs:
+  - name: rp2040
diff --git a/boards/seeed/xiao_rp2040/doc/img/xiao_rp2040.webp b/boards/seeed/xiao_rp2040/doc/img/xiao_rp2040.webp
new file mode 100644
index 00000000000..5233046000a
Binary files /dev/null and b/boards/seeed/xiao_rp2040/doc/img/xiao_rp2040.webp differ
diff --git a/boards/seeed/xiao_rp2040/doc/img/xiao_rp2040_pinout.webp b/boards/seeed/xiao_rp2040/doc/img/xiao_rp2040_pinout.webp
new file mode 100644
index 00000000000..cb295b073d4
Binary files /dev/null and b/boards/seeed/xiao_rp2040/doc/img/xiao_rp2040_pinout.webp differ
diff --git a/boards/seeed/xiao_rp2040/doc/index.rst b/boards/seeed/xiao_rp2040/doc/index.rst
new file mode 100644
index 00000000000..7206e9be07f
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/doc/index.rst
@@ -0,0 +1,138 @@
+.. _xiao_rp2040:
+
+XIAO RP2040
+###########
+
+Overview
+********
+
+The XIAO RP2040 is an IoT mini development board from Seeed Studio.
+It is equipped with an RP2040 SoC, an on-board WS2812 addressable
+LED, and USB connector. The USB bootloader allows it
+to be flashed without any adapter, in a drag-and-drop manner.
+
+For more details see the `Seeed Studio XIAO RP2040`_ wiki page.
+
+.. figure:: img/xiao_rp2040.webp
+   :align: center
+   :alt: XIAO RP2040
+
+   XIAO RP2040
+
+Hardware
+********
+
+The Seeed Studio XIAO RP2040 is a low-power microcontroller that
+carries the powerful Dual-core RP2040 processor with a flexible
+clock running up to 133 MHz. There is also 264KB of SRAM, and 2MB of
+on-board Flash memory.
+
+There are 14 GPIO PINs on Seeed Studio XIAO RP2040, on which there
+are 11 digital pins, 4 analog pins, 11 PWM Pins,1 I2C interface,
+1 UART interface, 1 SPI interface, 1 SWD Bonding pad interface.
+
+Supported Features
+==================
+
+The ``xiao_rp2040`` board target supports the following hardware
+features:
+
+.. list-table::
+   :header-rows: 1
+
+   * - Peripheral
+     - Kconfig option
+     - Devicetree compatible
+   * - NVIC
+     - N/A
+     - :dtcompatible:`arm,v6m-nvic`
+   * - UART
+     - :kconfig:option:`CONFIG_SERIAL`
+     - :dtcompatible:`raspberrypi,pico-uart`
+   * - GPIO
+     - :kconfig:option:`CONFIG_GPIO`
+     - :dtcompatible:`raspberrypi,pico-gpio`
+   * - ADC
+     - :kconfig:option:`CONFIG_ADC`
+     - :dtcompatible:`raspberrypi,pico-adc`
+   * - I2C
+     - :kconfig:option:`CONFIG_I2C`
+     - :dtcompatible:`snps,designware-i2c`
+   * - SPI
+     - :kconfig:option:`CONFIG_SPI`
+     - :dtcompatible:`raspberrypi,pico-spi`
+   * - USB Device
+     - :kconfig:option:`CONFIG_USB_DEVICE_STACK`
+     - :dtcompatible:`raspberrypi,pico-usbd`
+   * - HWINFO
+     - :kconfig:option:`CONFIG_HWINFO`
+     - N/A
+   * - Watchdog Timer (WDT)
+     - :kconfig:option:`CONFIG_WATCHDOG`
+     - :dtcompatible:`raspberrypi,pico-watchdog`
+   * - PWM
+     - :kconfig:option:`CONFIG_PWM`
+     - :dtcompatible:`raspberrypi,pico-pwm`
+   * - Flash
+     - :kconfig:option:`CONFIG_FLASH`
+     - :dtcompatible:`raspberrypi,pico-flash-controller`
+   * - Clock controller
+     - :kconfig:option:`CONFIG_CLOCK_CONTROL`
+     - :dtcompatible:`raspberrypi,pico-clock-controller`
+   * - UART (PIO)
+     - :kconfig:option:`CONFIG_SERIAL`
+     - :dtcompatible:`raspberrypi,pico-uart-pio`
+
+Pin Mapping
+===========
+
+The peripherals of the RP2040 SoC can be routed to various pins on the board.
+The configuration of these routes can be modified through DTS. Please refer to
+the datasheet to see the possible routings for each peripheral.
+
+Default Zephyr Peripheral Mapping:
+----------------------------------
+
+.. rst-class:: rst-columns
+
+- UART0_TX : P0
+- UART0_RX : P1
+- I2C1_SDA : P6
+- I2C1_SCL : P7
+- SPI0_RX : P4
+- SPI0_SCK : P2
+- SPI0_TX : P3
+
+Connections and IOs
+===================
+
+The board uses a standard XIAO pinout, the default pin mapping is the following:
+
+.. figure:: img/xiao_rp2040_pinout.webp
+   :align: center
+   :alt: XIAO RP2040 Pinout
+
+   XIAO RP2040 Pinout
+
+Programming and Debugging
+*************************
+
+Flashing
+========
+
+Using UF2
+---------
+
+You can flash the Xiao RP2040 with a UF2 file.
+By default, building an app for this board will generate a
+:file:`build/zephyr/zephyr.uf2` file. If the Xiao RP2040 is powered on with
+the ``BOOTSEL`` button pressed, it will appear on the host as a mass storage
+device. The UF2 file should be copied to the device, which will
+flash the Xiao RP2040.
+
+References
+**********
+
+.. target-notes::
+
+.. _`Seeed Studio XIAO RP2040`: https://wiki.seeedstudio.com/XIAO-RP2040/
diff --git a/boards/seeed/xiao_rp2040/seeed_xiao_connector.dtsi b/boards/seeed/xiao_rp2040/seeed_xiao_connector.dtsi
new file mode 100644
index 00000000000..d0e9152cefd
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/seeed_xiao_connector.dtsi
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2023 Seeed Studio inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	xiao_d: connector {
+		compatible = "seeed,xiao-gpio";
+		#gpio-cells = <2>;
+		gpio-map-mask = <0xffffffff 0xffffffc0>;
+		gpio-map-pass-thru = <0 0x3f>;
+		gpio-map
+			= <0 0 &gpio0 26 0>		/* D0 */
+			, <1 0 &gpio0 27 0>		/* D1 */
+			, <2 0 &gpio0 28 0>		/* D2 */
+			, <3 0 &gpio0 29 0>		/* D3 */
+			, <4 0 &gpio0 6 0>		/* D4 */
+			, <5 0 &gpio0 7 0>		/* D5 */
+			, <6 0 &gpio0 0 0>		/* D6 */
+			, <7 0 &gpio0 1 0>		/* D7 */
+			, <8 0 &gpio0 2 0>		/* D8 */
+			, <9 0 &gpio0 4 0>		/* D9 */
+			, <10 0 &gpio0 3 0>		/* D10 */
+			;
+	};
+};
+
+xiao_i2c: &i2c1 {
+};
+xiao_spi: &spi0 {
+};
+xiao_serial: &uart0 {
+};
diff --git a/boards/seeed/xiao_rp2040/xiao_rp2040-pinctrl.dtsi b/boards/seeed/xiao_rp2040/xiao_rp2040-pinctrl.dtsi
new file mode 100644
index 00000000000..0e235884bf2
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/xiao_rp2040-pinctrl.dtsi
@@ -0,0 +1,68 @@
+/*
+ * Copyright (c) 2021 Yonatan Schachter
+ * Copyright (c) 2023 Seeed Studio inc.
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.h>
+
+&pinctrl {
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_P0>;
+		};
+		group2 {
+			pinmux = <UART0_RX_P1>;
+			input-enable;
+		};
+	};
+
+	i2c1_default: i2c1_default {
+		group1 {
+			pinmux = <I2C1_SDA_P6>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <I2C1_SCL_P7>;
+			input-enable;
+		};
+	};
+
+	pwm_ch4b_default: pwm_ch4b_default {
+		group1 {
+			pinmux = <PWM_4B_P25>;
+		};
+	};
+
+	spi0_default: spi0_default {
+		group1 {
+			pinmux = <SPI0_TX_P3>;
+		};
+		group2 {
+			pinmux = <SPI0_RX_P4>;
+			input-enable;
+		};
+		group3 {
+			pinmux = <SPI0_SCK_P2>;
+		};
+	};
+
+	adc_default: adc_default {
+		group1 {
+			pinmux = <ADC_CH0_P26>,
+				 <ADC_CH1_P27>,
+				 <ADC_CH2_P28>,
+				 <ADC_CH3_P29>;
+			input-enable;
+		};
+	};
+
+	clocks_default: clocks_default {
+	};
+
+	ws2812_pio0_default: ws2812_pio0_default {
+		ws2812 {
+			pinmux = <PIO0_P12>;
+		};
+	};
+};
diff --git a/boards/seeed/xiao_rp2040/xiao_rp2040.dts b/boards/seeed/xiao_rp2040/xiao_rp2040.dts
new file mode 100644
index 00000000000..0a52f47d672
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/xiao_rp2040.dts
@@ -0,0 +1,174 @@
+/*
+ * Copyright (c) 2021 Yonatan Schachter
+ * Copyright (c) 2023 Seeed Studio inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <rpi_pico/rp2040.dtsi>
+#include "xiao_rp2040-pinctrl.dtsi"
+#include "seeed_xiao_connector.dtsi"
+#include <freq.h>
+#include <zephyr/dt-bindings/led/led.h>
+#include <zephyr/dt-bindings/pwm/pwm.h>
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,flash-controller = &ssi;
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,code-partition = &code_partition;
+	};
+
+	aliases {
+		watchdog0 = &wdt0;
+		led-strip = &ws2812;
+		pwm-led0 = &pwm_led0;
+		led0 = &blue_led;
+		led1 = &green_led;
+		led2 = &red_led;
+	};
+
+	pwm_leds {
+		compatible = "pwm-leds";
+		status = "disabled";
+		pwm_led0: pwm_led_0 {
+			pwms = <&pwm 9 PWM_MSEC(20) PWM_POLARITY_INVERTED>;
+			label = "PWM_LED";
+		};
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		blue_led: blue_led {
+			gpios = <&gpio0 25 GPIO_ACTIVE_LOW>;
+			label = "BLUE_LED";
+		};
+
+		green_led: green_led {
+			gpios = <&gpio0 16 GPIO_ACTIVE_LOW>;
+			label = "GREEN_LED";
+		};
+
+		red_led: red_led {
+			gpios = <&gpio0 17 GPIO_ACTIVE_LOW>;
+			label = "RED_LED";
+		};
+	};
+};
+
+&pwm {
+	pinctrl-0 = <&pwm_ch4b_default>;
+	pinctrl-names = "default";
+	divider-int-0 = <255>;
+};
+
+&flash0 {
+	/*
+	 * 2MB of flash minus the 0x100 used for the second stage bootloader
+	 */
+	reg = <0x10000000 DT_SIZE_M(2)>;
+
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+		code_partition: partition@100 {
+			label = "code";
+			reg = <0x100 (DT_SIZE_M(2) - 0x100)>;
+			read-only;
+		};
+	};
+};
+
+&clocks {
+	pinctrl-0 = <&clocks_default>;
+	pinctrl-names = "default";
+};
+
+&timer {
+	status = "okay";
+};
+
+&uart0 {
+	current-speed = <115200>;
+	status = "okay";
+	pinctrl-0 = <&uart0_default>;
+	pinctrl-names = "default";
+};
+
+&i2c1 {
+	status = "okay";
+	pinctrl-0 = <&i2c1_default>;
+	pinctrl-names = "default";
+	clock-frequency = <I2C_BITRATE_FAST>;
+};
+
+&spi0 {
+	status = "okay";
+	pinctrl-0 = <&spi0_default>;
+	pinctrl-names = "default";
+	clock-frequency = <DT_FREQ_M(8)>;
+};
+
+&gpio0 {
+	status = "okay";
+
+	/*
+	 * The neopixel on this board has its positive side hooked up to a GPIO pin
+	 * rather than a positive voltage rail to save on power. This will enable
+	 * the LED on board initialization.
+	 */
+	neopixel-power-enable {
+		gpio-hog;
+		gpios = <11 GPIO_ACTIVE_HIGH>;
+		output-high;
+	};
+};
+
+&wdt0 {
+	status = "okay";
+};
+
+&adc {
+	status = "okay";
+	pinctrl-0 = <&adc_default>;
+	pinctrl-names = "default";
+};
+
+&pio0 {
+	status = "okay";
+
+	pio-ws2812 {
+		compatible = "worldsemi,ws2812-rpi_pico-pio";
+		status = "okay";
+		pinctrl-0 = <&ws2812_pio0_default>;
+		pinctrl-names = "default";
+		bit-waveform = <3>, <3>, <4>;
+
+		ws2812: ws2812 {
+			status = "okay";
+			gpios = <&gpio0 12 GPIO_ACTIVE_HIGH>;
+			chain-length = <1>;
+			color-mapping = <LED_COLOR_ID_GREEN
+					LED_COLOR_ID_RED
+					LED_COLOR_ID_BLUE>;
+			reset-delay = <280>;
+			frequency = <800000>;
+		};
+	};
+};
+
+zephyr_udc0: &usbd {
+	status = "okay";
+};
+
+&vreg {
+	regulator-always-on;
+	regulator-allowed-modes = <REGULATOR_RPI_PICO_MODE_NORMAL>;
+};
diff --git a/boards/seeed/xiao_rp2040/xiao_rp2040.yaml b/boards/seeed/xiao_rp2040/xiao_rp2040.yaml
new file mode 100644
index 00000000000..b2852757aa3
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/xiao_rp2040.yaml
@@ -0,0 +1,24 @@
+identifier: xiao_rp2040
+name: XIAO RP2040
+type: mcu
+arch: arm
+flash: 2048
+ram: 256
+toolchain:
+  - zephyr
+  - gnuarmemb
+  - xtools
+supported:
+  - uart
+  - gpio
+  - adc
+  - i2c
+  - spi
+  - hwinfo
+  - watchdog
+  - pwm
+  - flash
+  - dma
+  - counter
+  - clock
+vendor: seeed
diff --git a/boards/seeed/xiao_rp2040/xiao_rp2040_defconfig b/boards/seeed/xiao_rp2040/xiao_rp2040_defconfig
new file mode 100644
index 00000000000..ef4e863884a
--- /dev/null
+++ b/boards/seeed/xiao_rp2040/xiao_rp2040_defconfig
@@ -0,0 +1,21 @@
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=125000000
+CONFIG_RESET=y
+
+# Enable UART driver
+CONFIG_SERIAL=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+
+# Enable console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+# Enable clock control by default
+CONFIG_CLOCK_CONTROL=y
+
+# Code partition needed to target the correct flash range
+CONFIG_USE_DT_CODE_PARTITION=y
+
+# Output UF2 by default, native bootloader supports it.
+CONFIG_BUILD_OUTPUT_UF2=y
diff --git a/samples/basic/blinky_pwm/boards/xiao_rp2040.overlay b/samples/basic/blinky_pwm/boards/xiao_rp2040.overlay
new file mode 100644
index 00000000000..43e054ede94
--- /dev/null
+++ b/samples/basic/blinky_pwm/boards/xiao_rp2040.overlay
@@ -0,0 +1,13 @@
+&{/pwm_leds} {
+	status = "okay";
+};
+
+&pwm_led0 {
+	status = "okay";
+};
+
+&pwm {
+	status = "okay";
+	divider-frac-4 = <15>;
+	divider-int-4 = <255>;
+};
diff --git a/samples/basic/fade_led/boards/xiao_rp2040.overlay b/samples/basic/fade_led/boards/xiao_rp2040.overlay
new file mode 100644
index 00000000000..62c3a142cd4
--- /dev/null
+++ b/samples/basic/fade_led/boards/xiao_rp2040.overlay
@@ -0,0 +1,4 @@
+&pwm {
+	status = "okay";
+	divider-int-4 = <255>;
+};
diff --git a/samples/drivers/led_strip/boards/xiao_rp2040.conf b/samples/drivers/led_strip/boards/xiao_rp2040.conf
new file mode 100644
index 00000000000..8230eb9896b
--- /dev/null
+++ b/samples/drivers/led_strip/boards/xiao_rp2040.conf
@@ -0,0 +1,2 @@
+CONFIG_GPIO=y
+CONFIG_GPIO_HOGS=y
diff --git a/tests/drivers/adc/adc_api/boards/xiao_rp2040.overlay b/tests/drivers/adc/adc_api/boards/xiao_rp2040.overlay
new file mode 100644
index 00000000000..2bd79f9f4f1
--- /dev/null
+++ b/tests/drivers/adc/adc_api/boards/xiao_rp2040.overlay
@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2023 Benjamin Björnsson <benjamin.bjornsson@gmail.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	zephyr,user {
+		io-channels = <&adc 0>, <&adc 1>;
+	};
+};
+
+&adc {
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	channel@0 {
+		reg = <0>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+
+	channel@1 {
+		reg = <1>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};