diff --git a/drivers/drivers_initialize.c b/drivers/drivers_initialize.c
index 7ba9363479c..0921be891a0 100644
--- a/drivers/drivers_initialize.c
+++ b/drivers/drivers_initialize.c
@@ -22,6 +22,7 @@
  * Included Files
  ****************************************************************************/
 
+#include <nuttx/clk/clk_provider.h>
 #include <nuttx/crypto/crypto.h>
 #include <nuttx/drivers/drivers.h>
 #include <nuttx/fs/loop.h>
@@ -83,6 +84,10 @@ void drivers_initialize(void)
   note_register();      /* Non-standard /dev/note */
 #endif
 
+#if defined(CONFIG_CLK_RPMSG)
+  clk_rpmsg_server_initialize();
+#endif
+
   /* Initialize the serial device driver */
 
 #ifdef CONFIG_RPMSG_UART