diff --git a/boards/arm/nrf53/nrf5340-dk/configs/timer_cpuapp/defconfig b/boards/arm/nrf53/nrf5340-dk/configs/timer_cpuapp/defconfig
new file mode 100644
index 00000000000..08e45c141b0
--- /dev/null
+++ b/boards/arm/nrf53/nrf5340-dk/configs/timer_cpuapp/defconfig
@@ -0,0 +1,48 @@
+#
+# 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_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_STANDARD_SERIAL is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nrf5340-dk"
+CONFIG_ARCH_BOARD_NRF5340_DK=y
+CONFIG_ARCH_CHIP="nrf53"
+CONFIG_ARCH_CHIP_NRF5340=y
+CONFIG_ARCH_CHIP_NRF5340_CPUAPP=y
+CONFIG_ARCH_CHIP_NRF53=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_STDARG_H=y
+CONFIG_BOARD_LOOPSPERMSEC=5500
+CONFIG_BUILTIN=y
+CONFIG_EXAMPLES_TIMER=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FS_FAT=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MM_REGIONS=2
+CONFIG_NRF53_TIMER0=y
+CONFIG_NRF53_UART0=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=524288
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=26
+CONFIG_START_MONTH=3
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/arm/nrf53/nrf5340-dk/src/Makefile b/boards/arm/nrf53/nrf5340-dk/src/Makefile
index 3351a9d8313..8e7fc5c975c 100644
--- a/boards/arm/nrf53/nrf5340-dk/src/Makefile
+++ b/boards/arm/nrf53/nrf5340-dk/src/Makefile
@@ -36,4 +36,10 @@ else
 CSRCS += nrf53_userleds.c
 endif
 
+ifeq ($(CONFIG_TIMER),y)
+ifeq ($(CONFIG_NRF53_TIMER),y)
+CSRCS += nrf53_timer.c
+endif
+endif
+
 include $(TOPDIR)/boards/Board.mk
diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h b/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h
index 1332f9d4a7d..7548def7f18 100644
--- a/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h
+++ b/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h
@@ -82,5 +82,17 @@
 
 int nrf53_bringup(void);
 
+/****************************************************************************
+ * Name: nrf53_timer_driver_setup
+ *
+ * Description:
+ *   Initialize TIMER driver.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_TIMER
+int nrf53_timer_driver_setup(const char *devpath, int timer);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM_NRF53_NRF5340_DK_SRC_NRF53_NRF5340_DK_H */
diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c b/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c
index a7db7f5cf33..27b1061feee 100644
--- a/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c
+++ b/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c
@@ -39,6 +39,14 @@
 #  include "nrf53_rptun.h"
 #endif
 
+#include "nrf5340-dk.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define NRF53_TIMER (0)
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -79,6 +87,18 @@ int nrf53_bringup(void)
 #endif
 #endif
 
+#if defined(CONFIG_TIMER) && defined(CONFIG_NRF53_TIMER)
+  /* Configure TIMER driver */
+
+  ret = nrf53_timer_driver_setup("/dev/timer0", NRF53_TIMER);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to initialize timer driver: %d\n",
+             ret);
+    }
+#endif
+
 #ifdef CONFIG_NRF53_SOFTDEVICE_CONTROLLER
   ret = nrf53_sdc_initialize();
 
diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf53_timer.c b/boards/arm/nrf53/nrf5340-dk/src/nrf53_timer.c
new file mode 100644
index 00000000000..c47c0b74c04
--- /dev/null
+++ b/boards/arm/nrf53/nrf5340-dk/src/nrf53_timer.c
@@ -0,0 +1,58 @@
+/****************************************************************************
+ * boards/arm/nrf53/nrf5340-dk/src/nrf53_timer.c
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/timers/timer.h>
+
+#include <debug.h>
+
+#include "nrf53_tim_lowerhalf.h"
+
+#include "nrf5340-dk.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nrf53_timer_driver_setup
+ *
+ * Description:
+ *   Configure the timer driver.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the timer device.  This should be of the
+ *             form /dev/timer0
+ *   timer   - The timer's number.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int nrf53_timer_driver_setup(const char *devpath, int timer)
+{
+  return nrf53_timer_initialize(devpath, timer);
+}