diff --git a/drivers/stepper/ti/drv8424.c b/drivers/stepper/ti/drv8424.c
index 4acbb02e99d..a6960157d5f 100644
--- a/drivers/stepper/ti/drv8424.c
+++ b/drivers/stepper/ti/drv8424.c
@@ -14,6 +14,12 @@
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(drv8424, CONFIG_STEPPER_LOG_LEVEL);
 
+/* Enable and wake up times of the drv84xx stepper controller family. Only after they have elapsed
+ * are controller output signals guaranteed to be valid.
+ */
+#define DRV84XX_ENABLE_TIME  K_USEC(5)
+#define DRV84XX_WAKE_UP_TIME K_USEC(1200)
+
 /**
  * @brief DRV8424 stepper driver configuration data.
  *
@@ -26,6 +32,7 @@ struct drv8424_config {
 	struct gpio_dt_spec en_pin;
 	struct gpio_dt_spec m0_pin;
 	struct gpio_dt_spec m1_pin;
+	struct gpio_dt_spec fault_pin;
 };
 
 /* Struct for storing the states of output pins. */
@@ -37,15 +44,15 @@ struct drv8424_pin_states {
 };
 
 /**
- * @brief DRV8424 stepper driver data.
- *
- * This structure contains mutable data used by a DRV8424 stepper driver.
+ * @brief DRV84XX stepper driver data.
  */
 struct drv8424_data {
 	const struct step_dir_stepper_common_data common;
+	const struct device *dev;
 	bool enabled;
 	struct drv8424_pin_states pin_states;
 	enum stepper_micro_step_resolution ustep_res;
+	struct gpio_callback fault_cb_data;
 };
 
 STEP_DIR_STEPPER_STRUCT_CHECK(struct drv8424_config, struct drv8424_data);
@@ -172,6 +179,10 @@ static int drv8424_enable(const struct device *dev)
 {
 	const struct drv8424_config *config = dev->config;
 	struct drv8424_data *data = dev->data;
+	bool has_enable_pin = config->en_pin.port != NULL;
+	bool has_sleep_pin = config->sleep_pin.port != NULL;
+	bool has_fault_pin = config->fault_pin.port != NULL;
+	k_timeout_t enable_timeout;
 	int ret;
 
 	ret = drv8424_check_en_sleep_pin(config);
@@ -189,6 +200,26 @@ static int drv8424_enable(const struct device *dev)
 		return ret;
 	}
 
+	if (has_enable_pin) {
+		enable_timeout = DRV84XX_ENABLE_TIME;
+	}
+
+	if (has_sleep_pin) {
+		enable_timeout = DRV84XX_WAKE_UP_TIME;
+	}
+
+	if (has_fault_pin) {
+		/* Wait after enable/wakeup until the fault pin is guaranteed to be in the
+		 * proper state.
+		 */
+		k_sleep(enable_timeout);
+		ret = gpio_add_callback_dt(&config->fault_pin, &data->fault_cb_data);
+		if (ret != 0) {
+			LOG_ERR("%s: Failed to add fault callback (error: %d)", dev->name, ret);
+			return ret;
+		}
+	}
+
 	data->enabled = true;
 
 	return ret;
@@ -198,6 +229,7 @@ static int drv8424_disable(const struct device *dev)
 {
 	const struct drv8424_config *config = dev->config;
 	struct drv8424_data *data = dev->data;
+	bool has_fault_pin = config->fault_pin.port != NULL;
 	int ret;
 
 	ret = drv8424_check_en_sleep_pin(config);
@@ -215,6 +247,14 @@ static int drv8424_disable(const struct device *dev)
 		return ret;
 	}
 
+	if (has_fault_pin) {
+		ret = gpio_remove_callback_dt(&config->fault_pin, &data->fault_cb_data);
+		if (ret != 0) {
+			LOG_ERR("%s: Failed to remove fault callback (error: %d)", dev->name, ret);
+			return ret;
+		}
+	}
+
 	config->common.timing_source->stop(dev);
 
 	data->enabled = false;
@@ -339,6 +379,13 @@ static int drv8424_run(const struct device *dev, enum stepper_direction directio
 	return step_dir_stepper_common_run(dev, direction);
 }
 
+void fault_event(const struct device *dev, struct gpio_callback *cb, uint32_t pins)
+{
+	struct drv8424_data *data = CONTAINER_OF(cb, struct drv8424_data, fault_cb_data);
+
+	stepper_trigger_callback(data->dev, STEPPER_EVENT_FAULT_DETECTED);
+}
+
 static int drv8424_init(const struct device *dev)
 {
 	const struct drv8424_config *const config = dev->config;
@@ -392,6 +439,25 @@ static int drv8424_init(const struct device *dev)
 		return ret;
 	}
 
+	/* Configure fault pin if it is available */
+	if (config->fault_pin.port != NULL) {
+		ret = gpio_pin_configure_dt(&config->fault_pin, GPIO_INPUT);
+		if (ret != 0) {
+			LOG_ERR("%s: Failed to configure fault_pin (error: %d)", dev->name, ret);
+			return ret;
+		}
+
+		ret = gpio_pin_interrupt_configure_dt(&config->fault_pin,
+						      GPIO_INT_EDGE_TO_INACTIVE);
+		if (ret != 0) {
+			LOG_ERR("Error %d: failed to configure interrupt on %s pin %d", ret,
+				config->fault_pin.port->name, config->fault_pin.pin);
+			return ret;
+		}
+
+		gpio_init_callback(&data->fault_cb_data, fault_event, BIT(config->fault_pin.pin));
+	}
+
 	return 0;
 }
 
@@ -419,11 +485,13 @@ static DEVICE_API(stepper, drv8424_stepper_api) = {
 		.en_pin = GPIO_DT_SPEC_INST_GET_OR(inst, en_gpios, {0}),                           \
 		.m0_pin = GPIO_DT_SPEC_INST_GET(inst, m0_gpios),                                   \
 		.m1_pin = GPIO_DT_SPEC_INST_GET(inst, m1_gpios),                                   \
+		.fault_pin = GPIO_DT_SPEC_INST_GET_OR(inst, fault_gpios, {0}),                     \
 	};                                                                                         \
                                                                                                    \
 	static struct drv8424_data drv8424_data_##inst = {                                         \
 		.common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst),                         \
 		.ustep_res = DT_INST_PROP(inst, micro_step_res),                                   \
+		.dev = DEVICE_DT_GET(DT_INST(inst, DT_DRV_COMPAT)),                                \
 	};                                                                                         \
                                                                                                    \
 	DEVICE_DT_INST_DEFINE(inst, &drv8424_init, NULL, &drv8424_data_##inst,                     \