diff --git a/drivers/syslog/Kconfig b/drivers/syslog/Kconfig
index d6c6bbd9b27..30a87feddda 100644
--- a/drivers/syslog/Kconfig
+++ b/drivers/syslog/Kconfig
@@ -174,6 +174,14 @@ if !SYSLOG_RFC5424
 
 comment "Regular syslog formatting options"
 
+config SYSLOG_TIMESTAMP_MS
+	bool "Use milliseconds for syslog timestamp"
+	default n
+	depends on SYSLOG_TIMESTAMP
+	---help---
+		Use milliseconds for timestamp.  By default,
+		microsecond will be used.
+
 config SYSLOG_TIMESTAMP_REALTIME
 	bool "Use wall-clock for syslog timestamp"
 	default n
diff --git a/drivers/syslog/vsyslog.c b/drivers/syslog/vsyslog.c
index 21a1bfe77f5..b930245a95e 100644
--- a/drivers/syslog/vsyslog.c
+++ b/drivers/syslog/vsyslog.c
@@ -167,7 +167,11 @@ int nx_vsyslog(int priority, FAR const IPTR char *fmt, FAR va_list *ap)
                              "[%s] "
 #    endif
 #  else
+#    if defined(CONFIG_SYSLOG_TIMESTAMP_MS)
+                             "[%5ju.%03ld] "
+#    else
                              "[%5ju.%06ld] "
+#    endif
 #  endif
 #endif
 
@@ -211,8 +215,13 @@ int nx_vsyslog(int priority, FAR const IPTR char *fmt, FAR va_list *ap)
                              , date_buf
 #    endif
 #  else
+#    if defined(CONFIG_SYSLOG_TIMESTAMP_MS)
+                             , (uintmax_t)ts.tv_sec
+                             , ts.tv_nsec / NSEC_PER_MSEC
+#    else
                              , (uintmax_t)ts.tv_sec
                              , ts.tv_nsec / NSEC_PER_USEC
+#    endif
 #  endif
 #endif