diff --git a/openamp/open-amp.cmake b/openamp/open-amp.cmake
index 97833c858a3..7fabf75cbe6 100644
--- a/openamp/open-amp.cmake
+++ b/openamp/open-amp.cmake
@@ -107,6 +107,16 @@ endif()
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/open-amp
                  ${CMAKE_CURRENT_BINARY_DIR}/open-amp EXCLUDE_FROM_ALL)
 
+# install nuttx openamp binary dir headers
+set(OPENAMP_HEADER_DIR ${CMAKE_BINARY_DIR}/include/openamp)
+file(GLOB headers open-amp/lib/include/openamp/*.h open-amp/lib/remoteproc/*.h
+     open-amp/lib/rpmsg/*h)
+file(MAKE_DIRECTORY ${OPENAMP_HEADER_DIR})
+
+foreach(header ${headers})
+  file(COPY ${header} DESTINATION ${OPENAMP_HEADER_DIR})
+endforeach()
+
 target_include_directories(
   open_amp-static PRIVATE $<TARGET_PROPERTY:metal-static,INCLUDE_DIRECTORIES>)