diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 6e98e5668c8..3be0d010f53 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -223,6 +223,7 @@ config SENSORS_L3GD20
 	bool "STMicro L3GD20 Gyroscope Sensor support"
 	default n
 	select SPI
+	select SCHED_HPWORK if SENSORS_L3GD20_BUFFER_SIZE > 0
 	---help---
 		Enable driver support for the STMicro L3GD20 gyroscope sensor.
 
diff --git a/drivers/sensors/l3gd20.c b/drivers/sensors/l3gd20.c
index de0a7acd858..716d0448615 100644
--- a/drivers/sensors/l3gd20.c
+++ b/drivers/sensors/l3gd20.c
@@ -47,10 +47,6 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0 && !defined(CONFIG_SCHED_HPWORK)
-#  error Hi-priority work queue support is required (CONFIG_SCHED_HPWORK)
-#endif
-
 /****************************************************************************
  * Private Types
  ****************************************************************************/