diff --git a/boards/arm/stm32/nucleo-f103rb/Kconfig b/boards/arm/stm32/nucleo-f103rb/Kconfig
index 9c3e50e491a..ff7982fb702 100644
--- a/boards/arm/stm32/nucleo-f103rb/Kconfig
+++ b/boards/arm/stm32/nucleo-f103rb/Kconfig
@@ -5,4 +5,12 @@
 
 if ARCH_BOARD_NUCLEO_F103RB
 
+if SENSORS_QENCODER
+
+config NUCLEO_F103RB_QETIMER
+	int "Timer to use with QE encoder"
+	default 2
+
+endif # SENSORS_QENCODER
+
 endif
diff --git a/boards/arm/stm32/nucleo-f103rb/configs/qenco/defconfig b/boards/arm/stm32/nucleo-f103rb/configs/qenco/defconfig
new file mode 100644
index 00000000000..4dda0e7ee04
--- /dev/null
+++ b/boards/arm/stm32/nucleo-f103rb/configs/qenco/defconfig
@@ -0,0 +1,56 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-f103rb"
+CONFIG_ARCH_BOARD_NUCLEO_F103RB=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F103RB=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=5483
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXAMPLES_QENCODER=y
+CONFIG_EXAMPLES_QENCODER_HAVE_MAXPOS=y
+CONFIG_EXAMPLES_QENCODER_MAXPOS=8192
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=1024
+CONFIG_NSH_LINELEN=80
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=20480
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SENSORS=y
+CONFIG_SENSORS_QENCODER=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_START_DAY=5
+CONFIG_START_MONTH=7
+CONFIG_START_YEAR=2011
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_QENCODER_DISABLE_EXTEND16BTIMERS=y
+CONFIG_STM32_QENCODER_SAMPLE_FDTS_2=y
+CONFIG_STM32_TIM2=y
+CONFIG_STM32_TIM2_PARTIAL_REMAP_1=y
+CONFIG_STM32_TIM2_QE=y
+CONFIG_STM32_TIM2_QEPSC=0
+CONFIG_STM32_USART2=y
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USER_ENTRYPOINT="nsh_main"
diff --git a/boards/arm/stm32/nucleo-f103rb/src/stm32_bringup.c b/boards/arm/stm32/nucleo-f103rb/src/stm32_bringup.c
index 32b97595306..bb100441749 100644
--- a/boards/arm/stm32/nucleo-f103rb/src/stm32_bringup.c
+++ b/boards/arm/stm32/nucleo-f103rb/src/stm32_bringup.c
@@ -37,6 +37,10 @@
 #  include <nuttx/input/buttons.h>
 #endif
 
+#ifdef CONFIG_SENSORS_QENCODER
+#  include "board_qencoder.h"
+#endif
+
 #include "nucleo-f103rb.h"
 
 /****************************************************************************
@@ -122,6 +126,19 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SENSORS_QENCODER
+  /* Initialize and register the qencoder driver */
+
+  ret = board_qencoder_initialize(0, CONFIG_NUCLEO_F103RB_QETIMER);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the qencoder: %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }