diff --git a/arch/arm/src/stm32/CMakeLists.txt b/arch/arm/src/stm32/CMakeLists.txt
index e193c424b57..9727b096e3b 100644
--- a/arch/arm/src/stm32/CMakeLists.txt
+++ b/arch/arm/src/stm32/CMakeLists.txt
@@ -205,7 +205,9 @@ if(CONFIG_STM32_CAP)
 endif()
 
 if(CONFIG_SENSORS_QENCODER)
-  list(APPEND SRCS stm32_qencoder.c)
+  if(CONFIG_STM32_QE)
+    list(APPEND SRCS stm32_qencoder.c)
+  endif()
 endif()
 
 if(CONFIG_SENSORS_HALL3PHASE)
diff --git a/arch/arm/src/stm32/Kconfig b/arch/arm/src/stm32/Kconfig
index 67ec8612c9d..d811530b5b4 100644
--- a/arch/arm/src/stm32/Kconfig
+++ b/arch/arm/src/stm32/Kconfig
@@ -12004,6 +12004,10 @@ config STM32_DMA2D_REGDEBUG
 endmenu
 endif # STM32_DMA2D
 
+config STM32_QE
+	bool
+	default n
+
 menu "STM32 QEncoder Driver"
 	depends on SENSORS_QENCODER
 	depends on STM32_TIM1 || STM32_TIM2 || STM32_TIM3 || STM32_TIM4 || STM32_TIM5 || STM32_TIM8
@@ -12020,6 +12024,7 @@ config STM32_TIM1_QE
 	bool "TIM1 QE"
 	default n
 	depends on STM32_TIM1
+	select STM32_QE
 	---help---
 		Reserve TIM1 for use by QEncoder.
 
@@ -12038,6 +12043,7 @@ config STM32_TIM2_QE
 	bool "TIM2 QE"
 	default n
 	depends on STM32_TIM2
+	select STM32_QE
 	---help---
 		Reserve TIM2 for use by QEncoder.
 
@@ -12056,6 +12062,7 @@ config STM32_TIM3_QE
 	bool "TIM3 QE"
 	default n
 	depends on STM32_TIM3
+	select STM32_QE
 	---help---
 		Reserve TIM3 for use by QEncoder.
 
@@ -12074,6 +12081,7 @@ config STM32_TIM4_QE
 	bool "TIM4 QE"
 	default n
 	depends on STM32_TIM4
+	select STM32_QE
 	---help---
 		Reserve TIM4 for use by QEncoder.
 
@@ -12092,6 +12100,7 @@ config STM32_TIM5_QE
 	bool "TIM5 QE"
 	default n
 	depends on STM32_TIM5
+	select STM32_QE
 	---help---
 		Reserve TIM5 for use by QEncoder.
 
@@ -12110,6 +12119,7 @@ config STM32_TIM8_QE
 	bool "TIM8 QE"
 	default n
 	depends on STM32_TIM8
+	select STM32_QE
 	---help---
 		Reserve TIM8 for use by QEncoder.
 
diff --git a/arch/arm/src/stm32/Make.defs b/arch/arm/src/stm32/Make.defs
index fe8e29dfe33..09f2cf8f3bd 100644
--- a/arch/arm/src/stm32/Make.defs
+++ b/arch/arm/src/stm32/Make.defs
@@ -189,7 +189,9 @@ CHIP_CSRCS += stm32_capture_lowerhalf.c
 endif
 
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
-CHIP_CSRCS += stm32_qencoder.c
+  ifeq ($(CONFIG_STM32_QE),y)
+    CHIP_CSRCS += stm32_qencoder.c
+  endif
 endif
 
 ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
diff --git a/boards/arm/stm32/common/src/CMakeLists.txt b/boards/arm/stm32/common/src/CMakeLists.txt
index 6883bfaea51..754fe81ce6e 100644
--- a/boards/arm/stm32/common/src/CMakeLists.txt
+++ b/boards/arm/stm32/common/src/CMakeLists.txt
@@ -87,7 +87,9 @@ if(CONFIG_SENSORS_ZEROCROSS)
 endif()
 
 if(CONFIG_SENSORS_QENCODER)
-  list(APPEND SRCS stm32_qencoder.c)
+  if(CONFIG_STM32_QE)
+    list(APPEND SRCS stm32_qencoder.c)
+  endif()
 endif()
 
 if(CONFIG_SENSORS_INA219)
diff --git a/boards/arm/stm32/common/src/Make.defs b/boards/arm/stm32/common/src/Make.defs
index bacc31b1dcf..2839c86bf71 100644
--- a/boards/arm/stm32/common/src/Make.defs
+++ b/boards/arm/stm32/common/src/Make.defs
@@ -95,7 +95,9 @@ ifeq ($(CONFIG_SENSORS_ZEROCROSS),y)
 endif
 
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
-  CSRCS += stm32_qencoder.c
+  ifeq ($(CONFIG_STM32_QE),y)
+    CSRCS += stm32_qencoder.c
+  endif
 endif
 
 ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
diff --git a/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c b/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c
index a49ce53519d..714945164bd 100644
--- a/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c
+++ b/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c
@@ -476,7 +476,7 @@ int stm32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_SENSORS_QENCODER
+#if defined(CONFIG_STM32_QE) && defined(CONFIG_SENSORS_QENCODER)
   /* Initialize and register the qencoder driver */
 
   ret = board_qencoder_initialize(0, CONFIG_STM32F4DISCO_QETIMER);