diff --git a/tools/gdb/thread.py b/tools/gdb/thread.py
index 4e8ba981f34..e1d7f653fb4 100644
--- a/tools/gdb/thread.py
+++ b/tools/gdb/thread.py
@@ -548,13 +548,60 @@ class Ps(gdb.Command):
             self.parse_and_show_info(tcb)
 
 
+class DeadLock(gdb.Command):
+    def __init__(self):
+        super(DeadLock, self).__init__("deadlock", gdb.COMMAND_USER)
+
+    def has_deadlock(self, pid):
+        """Check if the thread has a deadlock"""
+        tcb = utils.get_tcb(pid)
+        if not tcb or not tcb["waitobj"]:
+            return False
+
+        sem = tcb["waitobj"].cast(utils.lookup_type("sem_t").pointer())
+        if not sem["flags"] & SEM_TYPE_MUTEX:
+            return False
+
+        # It's waiting on a mutex
+        mutex = tcb["waitobj"].cast(utils.lookup_type("mutex_t").pointer())
+        holder = mutex["holder"]
+        if holder in self.holders:
+            return True
+
+        self.holders.append(holder)
+        return self.has_deadlock(holder)
+
+    def invoke(self, args, from_tty):
+        detected = []
+        for tcb in utils.get_tcbs():
+            self.holders = []  # Holders for this tcb
+            pid = tcb["pid"]
+            if pid in detected or not self.has_deadlock(tcb["pid"]):
+                continue
+
+            # Deadlock detected
+            detected.append(pid)
+            detected.extend(self.holders)
+            gdb.write(f'Thread {pid} "{utils.get_task_name(tcb)}" has deadlocked!\n')
+
+            gdb.write(f"  holders: {pid}->")
+            gdb.write("->".join(str(pid) for pid in self.holders))
+            gdb.write("\n")
+
+        if not detected:
+            gdb.write("No deadlock detected.")
+
+        gdb.write("\n")
+
+
 def register_commands():
+    DeadLock()
     SetRegs()
     Ps()
-    Nxinfothreads()
-    Nxthread()
     Nxcontinue()
+    Nxinfothreads()
     Nxstep()
+    Nxthread()
 
     # Use custom command for thread if current target does not support it.
     # The recognized threads count is less than or equal to the number of CPUs in this case.
diff --git a/tools/gdb/utils.py b/tools/gdb/utils.py
index ea3aa481759..619f2d4a7d7 100644
--- a/tools/gdb/utils.py
+++ b/tools/gdb/utils.py
@@ -24,7 +24,6 @@ import re
 from typing import List
 
 import gdb
-
 from macros import fetch_macro_info, try_expand
 
 g_symbol_cache = {}
@@ -543,3 +542,22 @@ def get_tcbs():
     npidhash = gdb.parse_and_eval("g_npidhash")
 
     return [pidhash[i] for i in range(0, npidhash) if pidhash[i]]
+
+
+def get_tcb(pid):
+    """get tcb from pid"""
+    g_pidhash = gdb.parse_and_eval("g_pidhash")
+    g_npidhash = gdb.parse_and_eval("g_npidhash")
+    tcb = g_pidhash[pid & (g_npidhash - 1)]
+    if not tcb or pid != tcb["pid"]:
+        return None
+
+    return tcb
+
+
+def get_task_name(tcb):
+    try:
+        name = tcb["name"].cast(gdb.lookup_type("char").pointer())
+        return name.string()
+    except gdb.error:
+        return ""