diff --git a/doc/releases/release-notes-4.1.rst b/doc/releases/release-notes-4.1.rst
index 8b1ca6c97e3..1301a902b11 100644
--- a/doc/releases/release-notes-4.1.rst
+++ b/doc/releases/release-notes-4.1.rst
@@ -531,6 +531,7 @@ New Drivers
    * :dtcompatible:`adi,adxl366`
    * :dtcompatible:`hc-sr04`
    * :dtcompatible:`invensense,icm42670s`
+   * :dtcompatible:`invensense,icm42370`
    * :dtcompatible:`maxim,ds3231-sensor`
    * :dtcompatible:`melexis,mlx90394`
    * :dtcompatible:`nordic,npm2100-vbat`
diff --git a/modules/hal_tdk/Kconfig b/modules/hal_tdk/Kconfig
index afc3582e1ae..0e876177010 100644
--- a/modules/hal_tdk/Kconfig
+++ b/modules/hal_tdk/Kconfig
@@ -17,6 +17,13 @@ config USE_EMD_ICM42670
 	depends on DT_HAS_INVENSENSE_ICM42670P_ENABLED \
 		|| DT_HAS_INVENSENSE_ICM42670S_ENABLED
 
+config USE_EMD_ICM42370
+	bool "ICM42370P High Performance 3-Axis MotionTracking Accelerometer"
+	default y
+	imply TDK_HAL
+	depends on ZEPHYR_HAL_TDK_MODULE
+	depends on DT_HAS_INVENSENSE_ICM42370P_ENABLED
+
 config USE_EMD_ICP101XX
 	bool "ICP101XX Barometric Pressure and Temperature Sensors"
 	imply TDK_HAL