diff --git a/drivers/rtc/Kconfig b/drivers/rtc/Kconfig
index 12153d5801ce..f0e6c4dd8965 100644
--- a/drivers/rtc/Kconfig
+++ b/drivers/rtc/Kconfig
@@ -1763,6 +1763,16 @@ config RTC_DRV_SNVS
 	   This driver can also be built as a module, if so, the module
 	   will be called "rtc-snvs".
 
+config RTC_DRV_IMX_RPMSG
+	tristate "NXP RPMSG RTC support"
+	select RPMSG_VIRTIO
+	depends on ARCH_MXC || COMPILE_TEST
+	depends on IMX_REMOTEPROC
+	depends on OF
+	help
+	   If you say yes here you get support for the NXP RPMSG
+	   RTC module.
+
 config RTC_DRV_IMX_SC
 	depends on IMX_SCU
 	depends on HAVE_ARM_SMCCC
diff --git a/drivers/rtc/Makefile b/drivers/rtc/Makefile
index 2dd0dd956b0e..9cebfddcc245 100644
--- a/drivers/rtc/Makefile
+++ b/drivers/rtc/Makefile
@@ -72,6 +72,7 @@ obj-$(CONFIG_RTC_DRV_GOLDFISH)	+= rtc-goldfish.o
 obj-$(CONFIG_RTC_DRV_HID_SENSOR_TIME) += rtc-hid-sensor-time.o
 obj-$(CONFIG_RTC_DRV_HYM8563)	+= rtc-hym8563.o
 obj-$(CONFIG_RTC_DRV_IMXDI)	+= rtc-imxdi.o
+obj-$(CONFIG_RTC_DRV_IMX_RPMSG)	+= rtc-imx-rpmsg.o
 obj-$(CONFIG_RTC_DRV_IMX_SC)	+= rtc-imx-sc.o
 obj-$(CONFIG_RTC_DRV_ISL12022)	+= rtc-isl12022.o
 obj-$(CONFIG_RTC_DRV_ISL12026)	+= rtc-isl12026.o
diff --git a/drivers/rtc/rtc-imx-rpmsg.c b/drivers/rtc/rtc-imx-rpmsg.c
new file mode 100644
index 000000000000..0d6d4b18159e
--- /dev/null
+++ b/drivers/rtc/rtc-imx-rpmsg.c
@@ -0,0 +1,301 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * Copyright 2017-2021 NXP
+ */
+
+#include <linux/firmware/imx/rpmsg.h>
+#include <linux/init.h>
+#include <linux/io.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/of.h>
+#include <linux/pm_qos.h>
+#include <linux/rpmsg.h>
+#include <linux/rtc.h>
+
+#define RPMSG_TIMEOUT 1000
+
+#define RTC_RPMSG_SEND		0x0
+#define RTC_RPMSG_RECEIVE	0x1
+#define RTC_RPMSG_NOTIFY	0x2
+
+enum rtc_rpmsg_cmd {
+	RTC_RPMSG_SET_TIME,
+	RTC_RPMSG_GET_TIME,
+	RTC_RPMSG_SET_ALARM,
+	RTC_RPMSG_GET_ALARM,
+	RTC_RPMSG_ENABLE_ALARM,
+};
+
+struct rtc_rpmsg_data {
+	struct imx_rpmsg_head header;
+	u8 reserved0;
+	union {
+		u8 reserved1;
+		u8 ret;
+	};
+	union {
+		u32 reserved2;
+		u32 sec;
+	};
+	union {
+		u8 enable;
+		u8 reserved3;
+	};
+	union {
+		u8 pending;
+		u8 reserved4;
+	};
+} __packed;
+
+struct rtc_rpmsg_info {
+	struct rpmsg_device *rpdev;
+	struct rtc_rpmsg_data *msg;
+	struct pm_qos_request pm_qos_req;
+	struct completion cmd_complete;
+	struct mutex lock;
+	struct rtc_device *rtc;
+};
+
+static int rtc_send_message(struct rtc_rpmsg_info *info,
+			    struct rtc_rpmsg_data *msg, bool ack)
+{
+	struct device *dev = &info->rpdev->dev;
+	int err;
+
+	mutex_lock(&info->lock);
+
+	cpu_latency_qos_add_request(&info->pm_qos_req, 0);
+	reinit_completion(&info->cmd_complete);
+
+	err = rpmsg_send(info->rpdev->ept, (void *)msg, sizeof(*msg));
+	if (err) {
+		dev_err(dev, "rpmsg send failed: %d\n", err);
+		goto err_out;
+	}
+
+	if (ack) {
+		err = wait_for_completion_timeout(&info->cmd_complete,
+						  msecs_to_jiffies(RPMSG_TIMEOUT));
+		if (!err) {
+			dev_err(dev, "rpmsg send timeout\n");
+			err = -ETIMEDOUT;
+			goto err_out;
+		}
+
+		if (info->msg->ret != 0) {
+			dev_err(dev, "rpmsg not ack %d\n", info->msg->ret);
+			err = -EINVAL;
+			goto err_out;
+		}
+
+		err = 0;
+	}
+
+err_out:
+	cpu_latency_qos_remove_request(&info->pm_qos_req);
+	mutex_unlock(&info->lock);
+
+	return err;
+}
+
+static int imx_rpmsg_rtc_read_time(struct device *dev, struct rtc_time *tm)
+{
+	struct rtc_rpmsg_info *rtc_rpmsg = dev_get_drvdata(dev);
+	struct rtc_rpmsg_data msg;
+	int ret;
+
+	msg.header.cate = IMX_RPMSG_RTC;
+	msg.header.major = IMX_RMPSG_MAJOR;
+	msg.header.minor = IMX_RMPSG_MINOR;
+	msg.header.type = RTC_RPMSG_SEND;
+	msg.header.cmd = RTC_RPMSG_GET_TIME;
+
+	ret = rtc_send_message(rtc_rpmsg, &msg, true);
+	if (ret)
+		return ret;
+
+	rtc_time64_to_tm(rtc_rpmsg->msg->sec, tm);
+
+	return 0;
+}
+
+static int imx_rpmsg_rtc_set_time(struct device *dev, struct rtc_time *tm)
+{
+	struct rtc_rpmsg_info *rtc_rpmsg = dev_get_drvdata(dev);
+	struct rtc_rpmsg_data msg;
+	unsigned long time;
+	int ret;
+
+	time = rtc_tm_to_time64(tm);
+
+	msg.header.cate = IMX_RPMSG_RTC;
+	msg.header.major = IMX_RMPSG_MAJOR;
+	msg.header.minor = IMX_RMPSG_MINOR;
+	msg.header.type = RTC_RPMSG_SEND;
+	msg.header.cmd = RTC_RPMSG_SET_TIME;
+	msg.sec = time;
+
+	ret = rtc_send_message(rtc_rpmsg, &msg, true);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+static int imx_rpmsg_rtc_read_alarm(struct device *dev, struct rtc_wkalrm *alrm)
+{
+	struct rtc_rpmsg_info *rtc_rpmsg = dev_get_drvdata(dev);
+	struct rtc_rpmsg_data msg;
+	int ret;
+
+	msg.header.cate = IMX_RPMSG_RTC;
+	msg.header.major = IMX_RMPSG_MAJOR;
+	msg.header.minor = IMX_RMPSG_MINOR;
+	msg.header.type = RTC_RPMSG_SEND;
+	msg.header.cmd = RTC_RPMSG_GET_ALARM;
+
+	ret = rtc_send_message(rtc_rpmsg, &msg, true);
+	if (ret)
+		return ret;
+
+	rtc_time64_to_tm(rtc_rpmsg->msg->sec, &alrm->time);
+	alrm->pending = rtc_rpmsg->msg->pending;
+
+	return 0;
+}
+
+static int imx_rpmsg_rtc_alarm_irq_enable(struct device *dev,
+	unsigned int enable)
+{
+	struct rtc_rpmsg_info *rtc_rpmsg = dev_get_drvdata(dev);
+	struct rtc_rpmsg_data msg;
+	int ret;
+
+	msg.header.cate = IMX_RPMSG_RTC;
+	msg.header.major = IMX_RMPSG_MAJOR;
+	msg.header.minor = IMX_RMPSG_MINOR;
+	msg.header.type = RTC_RPMSG_SEND;
+	msg.header.cmd = RTC_RPMSG_ENABLE_ALARM;
+	msg.enable = enable;
+
+	ret = rtc_send_message(rtc_rpmsg, &msg, true);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+static int imx_rpmsg_rtc_set_alarm(struct device *dev, struct rtc_wkalrm *alrm)
+{
+	struct rtc_rpmsg_info *rtc_rpmsg = dev_get_drvdata(dev);
+	struct rtc_rpmsg_data msg;
+	unsigned long time;
+	int ret;
+
+	time = rtc_tm_to_time64(&alrm->time);
+
+	msg.header.cate = IMX_RPMSG_RTC;
+	msg.header.major = IMX_RMPSG_MAJOR;
+	msg.header.minor = IMX_RMPSG_MINOR;
+	msg.header.type = RTC_RPMSG_SEND;
+	msg.header.cmd = RTC_RPMSG_SET_ALARM;
+	msg.sec = time;
+	msg.enable = alrm->enabled;
+
+	ret = rtc_send_message(rtc_rpmsg, &msg, true);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+static const struct rtc_class_ops imx_rpmsg_rtc_ops = {
+	.read_time = imx_rpmsg_rtc_read_time,
+	.set_time = imx_rpmsg_rtc_set_time,
+	.read_alarm = imx_rpmsg_rtc_read_alarm,
+	.set_alarm = imx_rpmsg_rtc_set_alarm,
+	.alarm_irq_enable = imx_rpmsg_rtc_alarm_irq_enable,
+};
+
+static int rtc_rpmsg_probe(struct rpmsg_device *rpdev)
+{
+	struct device *dev = &rpdev->dev;
+	struct rtc_rpmsg_info *rtc_rpmsg;
+
+	dev_info(dev, "new channel: 0x%x -> 0x%x\n", rpdev->src, rpdev->dst);
+
+	rtc_rpmsg = devm_kzalloc(dev, sizeof(*rtc_rpmsg), GFP_KERNEL);
+	if (!rtc_rpmsg)
+		return -ENOMEM;
+
+	rtc_rpmsg->rpdev = rpdev;
+	mutex_init(&rtc_rpmsg->lock);
+	init_completion(&rtc_rpmsg->cmd_complete);
+
+	dev_set_drvdata(dev, rtc_rpmsg);
+
+	device_init_wakeup(dev, true);
+
+	rtc_rpmsg->rtc = devm_rtc_device_register(dev, "rtc-rpmsg",
+						  &imx_rpmsg_rtc_ops,
+						  THIS_MODULE);
+	if (IS_ERR(rtc_rpmsg->rtc)) {
+		dev_err(dev, "failed to register rtc rpmsg: %ld\n", PTR_ERR(rtc_rpmsg->rtc));
+		return PTR_ERR(rtc_rpmsg->rtc);
+	}
+
+	return 0;
+}
+
+static void rtc_rpmsg_remove(struct rpmsg_device *rpdev)
+{
+	dev_info(&rpdev->dev, "rtc rpmsg driver is removed\n");
+}
+
+static int rtc_rpmsg_cb(struct rpmsg_device *rpdev, void *data, int len,
+			void *priv, u32 src)
+{
+	struct rtc_rpmsg_info *rtc_rpmsg = dev_get_drvdata(&rpdev->dev);
+	struct rtc_rpmsg_data *msg = (struct rtc_rpmsg_data *)data;
+
+	rtc_rpmsg->msg = msg;
+
+	if (msg->header.type == RTC_RPMSG_RECEIVE)
+		complete(&rtc_rpmsg->cmd_complete);
+	else if (msg->header.type == RTC_RPMSG_NOTIFY)
+		rtc_update_irq(rtc_rpmsg->rtc, 1, RTC_IRQF);
+	else
+		dev_err(&rpdev->dev, "wrong command type!\n");
+
+	return 0;
+}
+
+static const struct rpmsg_device_id rtc_rpmsg_id_table[] = {
+	{ .name	= "rpmsg-rtc-channel" },
+	{ },
+};
+
+static struct rpmsg_driver rtc_rpmsg_driver = {
+	.drv.name	= "imx_rtc_rpmsg",
+	.probe		= rtc_rpmsg_probe,
+	.remove		= rtc_rpmsg_remove,
+	.callback	= rtc_rpmsg_cb,
+	.id_table	= rtc_rpmsg_id_table,
+};
+
+/*
+ * imx m4 has a limitation that we can't read data during ns process.
+ * So register rtc a little bit late as rtc core will read data during
+ * register process
+ */
+static int __init rtc_rpmsg_init(void)
+{
+	return register_rpmsg_driver(&rtc_rpmsg_driver);
+}
+late_initcall(rtc_rpmsg_init);
+
+MODULE_AUTHOR("Dong Aisheng <aisheng.dong@nxp.com>");
+MODULE_DESCRIPTION("NXP i.MX RPMSG RTC Driver");
+MODULE_ALIAS("platform:imx_rtc_rpmsg");
+MODULE_LICENSE("GPL");
diff --git a/include/linux/firmware/imx/rpmsg.h b/include/linux/firmware/imx/rpmsg.h
new file mode 100644
index 000000000000..20bcce23c917
--- /dev/null
+++ b/include/linux/firmware/imx/rpmsg.h
@@ -0,0 +1,37 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+ * Copyright (C) 2019-2021 NXP.
+ */
+
+#ifndef __LINUX_IMX_RPMSG_H__
+#define __LINUX_IMX_RPMSG_H__
+
+#include <linux/types.h>
+
+/*
+ * Global header file for iMX RPMSG
+ */
+
+/* Category define */
+#define IMX_RMPSG_LIFECYCLE     1
+#define IMX_RPMSG_PMIC          2
+#define IMX_RPMSG_AUDIO         3
+#define IMX_RPMSG_KEY           4
+#define IMX_RPMSG_GPIO          5
+#define IMX_RPMSG_RTC           6
+#define IMX_RPMSG_SENSOR        7
+
+/* rpmsg version */
+#define IMX_RMPSG_MAJOR         1
+#define IMX_RMPSG_MINOR         0
+
+struct imx_rpmsg_head {
+	u8 cate;
+	u8 major;
+	u8 minor;
+	u8 type;
+	u8 cmd;
+	u8 reserved[5];
+} __packed;
+
+#endif /* __LINUX_IMX_RPMSG_H__ */
