diff --git a/drivers/timers/Kconfig b/drivers/timers/Kconfig
index 431b2f82bda..5256c02e5cf 100644
--- a/drivers/timers/Kconfig
+++ b/drivers/timers/Kconfig
@@ -295,7 +295,6 @@ config RTC_RPMSG
 	bool "Rpmsg RTC Driver"
 	default n
 	depends on OPENAMP
-	depends on RTC_EXTERNAL
 	select ARCH_HAVE_RTC_SUBSECONDS
 
 endif # RTC
diff --git a/drivers/timers/rpmsg_rtc.c b/drivers/timers/rpmsg_rtc.c
index f294c576cfa..33137f6b9d3 100644
--- a/drivers/timers/rpmsg_rtc.c
+++ b/drivers/timers/rpmsg_rtc.c
@@ -111,6 +111,11 @@ struct rpmsg_rtc_lowerhalf_s
 #endif
 };
 
+struct rpmsg_rtc_server_s
+{
+  struct rpmsg_endpoint ept;
+};
+
 /****************************************************************************
  * Private Function Prototypes
  ****************************************************************************/
@@ -365,6 +370,79 @@ static int rpmsg_rtc_rdalarm(FAR struct rtc_lowerhalf_s *lower_,
 }
 #endif
 
+static void rpmsg_rtc_server_ns_unbind(FAR struct rpmsg_endpoint *ept)
+{
+  FAR struct rpmsg_rtc_server_s *priv = ept->priv;
+
+  rpmsg_destroy_ept(&priv->ept);
+  kmm_free(priv);
+}
+
+static int rpmsg_rtc_server_ept_cb(FAR struct rpmsg_endpoint *ept,
+                                   FAR void *data, size_t len, uint32_t src,
+                                   FAR void *priv)
+{
+  FAR struct rpmsg_rtc_header_s *header= data;
+  struct timespec ts;
+
+  switch (header->command)
+    {
+    case RPMSG_RTC_GET:
+      {
+        FAR struct rpmsg_rtc_get_s *msg = data;
+
+        header->result = clock_gettime(CLOCK_REALTIME, &ts);
+        msg->sec = ts.tv_sec;
+        msg->nsec = ts.tv_nsec;
+        return rpmsg_send(ept, msg, sizeof(*msg));
+      }
+
+    case RPMSG_RTC_SET:
+      {
+        FAR struct rpmsg_rtc_set_s *msg = data;
+
+        ts.tv_sec = msg->sec;
+        ts.tv_nsec = msg->nsec;
+        header->result = clock_settime(CLOCK_REALTIME, &ts);
+        return rpmsg_send(ept, msg, sizeof(*msg));
+      }
+
+    default:
+      header->result = -ENOSYS;
+      return rpmsg_send(ept, header, sizeof(*header));
+    }
+}
+
+static void rpmsg_rtc_server_ns_bind(FAR struct rpmsg_device *rdev,
+                                     FAR void *priv_,
+                                     FAR const char *name,
+                                     uint32_t dest)
+{
+  FAR struct rpmsg_rtc_server_s *priv;
+  int ret;
+
+  if (strcmp(name, RPMSG_RTC_EPT_NAME))
+    {
+      return;
+    }
+
+  priv = kmm_zalloc(sizeof(*priv));
+  if (!priv)
+    {
+      return;
+    }
+
+  priv->ept.priv = priv;
+  ret = rpmsg_create_ept(&priv->ept, rdev, RPMSG_RTC_EPT_NAME,
+                         RPMSG_ADDR_ANY, dest,
+                         rpmsg_rtc_server_ept_cb,
+                         rpmsg_rtc_server_ns_unbind);
+  if (ret < 0)
+    {
+      kmm_free(priv);
+    }
+}
+
 /****************************************************************************
  * Name: rpmsg_rtc_initialize
  *
@@ -402,3 +480,22 @@ FAR struct rtc_lowerhalf_s *rpmsg_rtc_initialize(FAR const char *cpuname,
 
   return (FAR struct rtc_lowerhalf_s *)lower;
 }
+
+/****************************************************************************
+ * Name: rpmsg_rtc_server_initialize
+ *
+ * Description:
+ *   Sync RTC info to remote core without external RTC hardware through rpmsg.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno on failure
+ *
+ ****************************************************************************/
+
+int rpmsg_rtc_server_initialize(void)
+{
+  return rpmsg_register_callback(NULL,
+                                 NULL,
+                                 NULL,
+                                 rpmsg_rtc_server_ns_bind);
+}
diff --git a/include/nuttx/timers/rpmsg_rtc.h b/include/nuttx/timers/rpmsg_rtc.h
index 6699b99de1a..3c55a0cc0fe 100644
--- a/include/nuttx/timers/rpmsg_rtc.h
+++ b/include/nuttx/timers/rpmsg_rtc.h
@@ -45,6 +45,8 @@ extern "C"
 FAR struct rtc_lowerhalf_s *rpmsg_rtc_initialize(FAR const char *cpu_name,
                                                  int minor);
 
+int rpmsg_rtc_server_initialize(void);
+
 #endif /* CONFIG_RTC_RPMSG */
 
 #undef EXTERN