diff --git a/tools/gdb/nuttxgdb/rpmsg.py b/tools/gdb/nuttxgdb/rpmsg.py
new file mode 100644
index 00000000000..4bb805c97c3
--- /dev/null
+++ b/tools/gdb/nuttxgdb/rpmsg.py
@@ -0,0 +1,105 @@
+############################################################################
+# tools/gdb/rpmsg.py
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+import gdb
+
+from . import utils
+from .lists import NxList
+
+
+class RPMsgDump(gdb.Command):
+    """Dump rpmsg service"""
+
+    CALLBACK_HEADER = ["rpmsg_cb_s at", "ns_match", "ns_bind"]
+    ENDPOINT_HEADER = [
+        "endpoint_addr",
+        "name",
+        "addr",
+        "dest_addr",
+        "cb",
+        "ns_bound_cb",
+        "ns_unbind_cb",
+    ]
+
+    CALLBACK_FORAMTTER = "{:<20} {:<40} {:<40}"
+    ENDPOINT_FORMATTER = "{:<20} {:<20} {:<12} {:<12} {:<40} {:<40} {:<40}"
+
+    def __init__(self):
+        if utils.get_symbol_value("CONFIG_RPMSG"):
+            super(RPMsgDump, self).__init__("rpmsgdump", gdb.COMMAND_USER)
+
+    def print_headers(self, headers, formatter):
+        gdb.write(formatter.format(*headers) + "\n")
+        gdb.write(formatter.format(*["-" * len(header) for header in headers]) + "\n")
+
+    def dump_rdev_epts(self, endpoints_head):
+        gdb.write(f"dump_rdev_epts:{endpoints_head}\n")
+        self.print_headers(self.ENDPOINT_HEADER, self.ENDPOINT_FORMATTER)
+
+        output = []
+        for endpoint in NxList(endpoints_head, "struct rpmsg_endpoint", "node"):
+            output.append(
+                self.ENDPOINT_FORMATTER.format(
+                    f"{endpoint}",
+                    f"{endpoint['name'].string()}",
+                    f"{endpoint['addr']}",
+                    f"{endpoint['dest_addr']}",
+                    f"{endpoint['cb']}",
+                    f"{endpoint['ns_bound_cb']}",
+                    f"{endpoint['ns_unbind_cb']}",
+                )
+            )
+
+        gdb.write("\n".join(output) + "\n")
+
+    def dump_rdev_bitmap(self, rdev):
+        bitmap_values = [hex(bit) for bit in utils.ArrayIterator(rdev["bitmap"])]
+
+        gdb.write(
+            f"bitmap:{' '.join(bitmap_values):<20} bitmaplast: {rdev['bitmap']}\n"
+        )
+
+    def dump_rdev(self, rdev):
+        gdb.write(f"device:{rdev}\n")
+
+        self.dump_rdev_bitmap(rdev)
+        self.dump_rdev_epts(rdev["endpoints"])
+
+    def dump_rpmsg_cb(self):
+        gdb.write("g_rpmsg_cb:\n")
+        self.print_headers(self.CALLBACK_HEADER, self.CALLBACK_FORAMTTER)
+
+        output = []
+        for cb in NxList(gdb.parse_and_eval("g_rpmsg_cb"), "struct rpmsg_cb_s", "node"):
+            output.append(
+                self.CALLBACK_FORAMTTER.format(
+                    str(cb), str(cb["ns_match"]), str(cb["ns_bind"])
+                )
+            )
+        gdb.write("\n".join(output) + "\n")
+
+    def dump_rpmsg(self):
+        gdb.write("g_rpmsg:\n")
+        for rpmsg in NxList(gdb.parse_and_eval("g_rpmsg"), "struct rpmsg_s", "node"):
+            self.dump_rdev(rpmsg["rdev"])
+
+    def invoke(self, args, from_tty):
+        self.dump_rpmsg_cb()
+        self.dump_rpmsg()