diff --git a/boards/arm/nucleo_g071rb/doc/index.rst b/boards/arm/nucleo_g071rb/doc/index.rst
index 5bf6acfc236..b0bc8ea947c 100644
--- a/boards/arm/nucleo_g071rb/doc/index.rst
+++ b/boards/arm/nucleo_g071rb/doc/index.rst
@@ -98,6 +98,8 @@ The Zephyr nucleo_g071rb board configuration supports the following hardware fea
 +-----------+------------+-------------------------------------+
 | WATCHDOG  | on-chip    | independent watchdog                |
 +-----------+------------+-------------------------------------+
+| PWM       | on-chip    | pwm                                 |
++-----------+------------+-------------------------------------+
 
 Other hardware features are not yet supported in this Zephyr port.
 
@@ -119,6 +121,7 @@ Default Zephyr Peripheral Mapping:
 - UART_2 TX/RX : PA2/PA3 (ST-Link Virtual Port Com)
 - USER_PB   : PC13
 - LD4       : PA5
+- PWM       : PA6
 
 For mode details please refer to `STM32 Nucleo-64 board User Manual`_.
 
diff --git a/boards/arm/nucleo_g071rb/nucleo_g071rb.dts b/boards/arm/nucleo_g071rb/nucleo_g071rb.dts
index add420d9592..98bfe0d4823 100644
--- a/boards/arm/nucleo_g071rb/nucleo_g071rb.dts
+++ b/boards/arm/nucleo_g071rb/nucleo_g071rb.dts
@@ -50,3 +50,10 @@
 &iwdg {
 	status = "okay";
 };
+
+&timers3 {
+	status = "okay";
+	pwm3: pwm {
+		status = "okay";
+	};
+};
diff --git a/boards/arm/nucleo_g071rb/nucleo_g071rb.yaml b/boards/arm/nucleo_g071rb/nucleo_g071rb.yaml
index 67ed6be3622..2f690dae313 100644
--- a/boards/arm/nucleo_g071rb/nucleo_g071rb.yaml
+++ b/boards/arm/nucleo_g071rb/nucleo_g071rb.yaml
@@ -13,3 +13,4 @@ supported:
   - uart
   - gpio
   - watchdog
+  - pwm
diff --git a/boards/arm/nucleo_g071rb/pinmux.c b/boards/arm/nucleo_g071rb/pinmux.c
index 4f45c5ebe75..647da76e722 100644
--- a/boards/arm/nucleo_g071rb/pinmux.c
+++ b/boards/arm/nucleo_g071rb/pinmux.c
@@ -19,6 +19,9 @@ static const struct pin_config pinconf[] = {
 	{STM32_PIN_PA2, STM32G0_PINMUX_FUNC_PA2_USART2_TX},
 	{STM32_PIN_PA3, STM32G0_PINMUX_FUNC_PA3_USART2_RX},
 #endif
+#if DT_NODE_HAS_STATUS(DT_NODELABEL(pwm3), okay) && CONFIG_SERIAL
+	{STM32_PIN_PA6, STM32G0_PINMUX_FUNC_PA6_PWM3_CH1},
+#endif
 };
 
 static int pinmux_stm32_init(struct device *port)
diff --git a/drivers/pinmux/stm32/pinmux_stm32g0.h b/drivers/pinmux/stm32/pinmux_stm32g0.h
index 21374d39ab0..c7e17598fac 100644
--- a/drivers/pinmux/stm32/pinmux_stm32g0.h
+++ b/drivers/pinmux/stm32/pinmux_stm32g0.h
@@ -28,4 +28,7 @@
 #define STM32G0_PINMUX_FUNC_PA7_TIM3_CH2 \
 	(STM32_PINMUX_ALT_FUNC_1 | STM32_PUSHPULL_NOPULL)
 
+#define STM32G0_PINMUX_FUNC_PA6_PWM3_CH1    \
+	(STM32_PINMUX_ALT_FUNC_1 | STM32_PUSHPULL_NOPULL)
+
 #endif /* ZEPHYR_DRIVERS_PINMUX_STM32_PINMUX_STM32G0_H_ */