diff --git a/drivers/pinctrl/Makefile b/drivers/pinctrl/Makefile
index ba755ed2d46c..d96b7ede1355 100644
--- a/drivers/pinctrl/Makefile
+++ b/drivers/pinctrl/Makefile
@@ -44,7 +44,7 @@ obj-$(CONFIG_PINCTRL_PIC32)	+= pinctrl-pic32.o
 obj-$(CONFIG_PINCTRL_PISTACHIO)	+= pinctrl-pistachio.o
 obj-$(CONFIG_PINCTRL_RK805)	+= pinctrl-rk805.o
 obj-$(CONFIG_PINCTRL_ROCKCHIP)	+= pinctrl-rockchip.o
-obj-$(CONFIG_PINCTRL_SCMI)	+= pinctrl-scmi.o
+obj-$(CONFIG_PINCTRL_SCMI)	+= pinctrl-scmi.o pinctrl-scmi-imx.o
 obj-$(CONFIG_PINCTRL_SINGLE)	+= pinctrl-single.o
 obj-$(CONFIG_PINCTRL_ST) 	+= pinctrl-st.o
 obj-$(CONFIG_PINCTRL_STMFX) 	+= pinctrl-stmfx.o
diff --git a/drivers/pinctrl/pinctrl-scmi-imx.c b/drivers/pinctrl/pinctrl-scmi-imx.c
new file mode 100644
index 000000000000..e9d02e4c2cc1
--- /dev/null
+++ b/drivers/pinctrl/pinctrl-scmi-imx.c
@@ -0,0 +1,117 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright 2023 NXP
+ */
+
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/of.h>
+#include <linux/slab.h>
+
+#include <linux/pinctrl/pinconf.h>
+#include <linux/pinctrl/pinconf-generic.h>
+#include <linux/pinctrl/pinctrl.h>
+#include <linux/pinctrl/pinmux.h>
+
+#include "pinctrl-scmi.h"
+#include "pinctrl-utils.h"
+#include "core.h"
+#include "pinconf.h"
+
+/* SCMI pin control types, aligned with SCMI firmware */
+#define IMX_SCMI_PIN_TYPE_MUX		192
+#define IMX_SCMI_PIN_TYPE_CONFIG	193
+#define IMX_SCMI_PIN_TYPE_DAISY_ID	194
+#define IMX_SCMI_PIN_TYPE_DAISY_CFG	195
+
+#define IMX_SCMI_NO_PAD_CTL		BIT(31)
+#define IMX_SCMI_PAD_SION		BIT(30)
+#define IMX_SCMI_IOMUXC_CONFIG_SION	BIT(4)
+
+#define IMX_SCMI_NUM_CFG	4
+#define IMX_SCMI_PIN_SIZE	24
+
+int pinctrl_scmi_imx_dt_node_to_map(struct pinctrl_dev *pctldev, struct device_node *np,
+				    struct pinctrl_map **map, unsigned int *num_maps)
+{
+	struct pinctrl_map *new_map;
+	const __be32 *list;
+	unsigned long *configs = NULL;
+	unsigned long cfg[IMX_SCMI_NUM_CFG];
+	int map_num, size, pin_size, pin_id, num_pins;
+	int mux_reg, conf_reg, input_reg, mux_val, conf_val, input_val;
+	int i, j;
+	uint32_t ncfg;
+	static uint32_t daisy_off;
+
+	if (!daisy_off) {
+		if (of_machine_is_compatible("fsl,imx95"))
+			daisy_off = 0x408;
+		else
+			dev_err(pctldev->dev, "platform not support scmi pinctrl\n");
+	}
+
+	list = of_get_property(np, "fsl,pins", &size);
+	if (!list) {
+		dev_err(pctldev->dev, "no fsl,pins property in node %pOF\n", np);
+		return -EINVAL;
+	}
+
+	pin_size = IMX_SCMI_PIN_SIZE;
+
+	if (!size || size % pin_size) {
+		dev_err(pctldev->dev, "Invalid fsl,pins or pins property in node %pOF\n", np);
+		return -EINVAL;
+	}
+
+	num_pins = size / pin_size;
+	map_num = num_pins;
+
+	new_map = kmalloc_array(map_num, sizeof(struct pinctrl_map),
+				GFP_KERNEL);
+	if (!new_map)
+		return -ENOMEM;
+
+	*map = new_map;
+	*num_maps = map_num;
+
+	/* create config map */
+	for (i = 0; i < num_pins; i++) {
+		j = 0;
+		ncfg = IMX_SCMI_NUM_CFG;
+		mux_reg = be32_to_cpu(*list++);
+		conf_reg = be32_to_cpu(*list++);
+		input_reg = be32_to_cpu(*list++);
+		mux_val = be32_to_cpu(*list++);
+		input_val = be32_to_cpu(*list++);
+		conf_val = be32_to_cpu(*list++);
+		if (conf_val & IMX_SCMI_PAD_SION)
+			mux_val |= IMX_SCMI_IOMUXC_CONFIG_SION;
+
+		pin_id = mux_reg / 4;
+
+		cfg[j++] = pinconf_to_config_packed(IMX_SCMI_PIN_TYPE_MUX, mux_val);
+
+		if (!conf_reg || (conf_val & IMX_SCMI_NO_PAD_CTL))
+			ncfg--;
+		else
+			cfg[j++] = pinconf_to_config_packed(IMX_SCMI_PIN_TYPE_CONFIG, conf_val);
+
+		if (!input_reg) {
+			ncfg -= 2;
+		} else {
+			cfg[j++] = pinconf_to_config_packed(IMX_SCMI_PIN_TYPE_DAISY_ID,
+							    (input_reg - daisy_off) / 4);
+			cfg[j++] = pinconf_to_config_packed(IMX_SCMI_PIN_TYPE_DAISY_CFG, input_val);
+		}
+
+		configs = kmemdup(cfg, ncfg * sizeof(unsigned long), GFP_KERNEL);
+
+		new_map[i].type = PIN_MAP_TYPE_CONFIGS_PIN;
+		new_map[i].data.configs.group_or_pin = pin_get_name(pctldev, pin_id);
+		new_map[i].data.configs.configs = configs;
+		new_map[i].data.configs.num_configs = ncfg;
+	}
+
+	return 0;
+}
diff --git a/drivers/pinctrl/pinctrl-scmi.c b/drivers/pinctrl/pinctrl-scmi.c
index f2fef3fb85ae..b5bd73951aea 100644
--- a/drivers/pinctrl/pinctrl-scmi.c
+++ b/drivers/pinctrl/pinctrl-scmi.c
@@ -9,6 +9,7 @@
 #include <linux/device.h>
 #include <linux/err.h>
 #include <linux/module.h>
+#include <linux/of.h>
 #include <linux/seq_file.h>
 #include <linux/scmi_protocol.h>
 #include <linux/slab.h>
@@ -19,6 +20,7 @@
 #include <linux/pinctrl/pinctrl.h>
 #include <linux/pinctrl/pinmux.h>
 
+#include "pinctrl-scmi.h"
 #include "pinctrl-utils.h"
 #include "core.h"
 #include "pinconf.h"
@@ -91,6 +93,16 @@ static const struct pinctrl_ops pinctrl_scmi_pinctrl_ops = {
 #endif
 };
 
+static const struct pinctrl_ops pinctrl_scmi_imx_pinctrl_ops = {
+	.get_groups_count = pinctrl_scmi_get_groups_count,
+	.get_group_name = pinctrl_scmi_get_group_name,
+	.get_group_pins = pinctrl_scmi_get_group_pins,
+#ifdef CONFIG_OF
+	.dt_node_to_map = pinctrl_scmi_imx_dt_node_to_map,
+	.dt_free_map = pinconf_generic_dt_free_map,
+#endif
+};
+
 static int pinctrl_scmi_get_functions_count(struct pinctrl_dev *pctldev)
 {
 	struct scmi_pinctrl *pmx = pinctrl_dev_get_drvdata(pctldev);
@@ -514,6 +526,7 @@ static int pinctrl_scmi_get_pins(struct scmi_pinctrl *pmx,
 
 static const struct scmi_device_id scmi_id_table[] = {
 	{ SCMI_PROTOCOL_PINCTRL, "pinctrl" },
+	{ SCMI_PROTOCOL_PINCTRL, "pinctrl-scmi-imx", "fsl,imx95-scmi-pinctrl" },
 	{ }
 };
 MODULE_DEVICE_TABLE(scmi, scmi_id_table);
@@ -549,6 +562,9 @@ static int scmi_pinctrl_probe(struct scmi_device *sdev)
 	pmx->pctl_desc.pmxops = &pinctrl_scmi_pinmux_ops;
 	pmx->pctl_desc.confops = &pinctrl_scmi_pinconf_ops;
 
+	if (device_is_compatible(dev, "fsl,imx95-scmi-pinctrl"))
+		pmx->pctl_desc.pctlops = &pinctrl_scmi_imx_pinctrl_ops;
+
 	ret = pinctrl_scmi_get_pins(pmx, &pmx->pctl_desc.npins,
 				    &pmx->pctl_desc.pins);
 	if (ret)
diff --git a/drivers/pinctrl/pinctrl-scmi.h b/drivers/pinctrl/pinctrl-scmi.h
new file mode 100644
index 000000000000..25863b4428fe
--- /dev/null
+++ b/drivers/pinctrl/pinctrl-scmi.h
@@ -0,0 +1,12 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright 2023 NXP
+ */
+
+#ifndef __DRIVERS_PINCTRL_SCMI_H
+#define __DRIVERS_PINCTRL_SCMI_H
+
+int pinctrl_scmi_imx_dt_node_to_map(struct pinctrl_dev *pctldev, struct device_node *np,
+				    struct pinctrl_map **map, unsigned int *num_maps);
+
+#endif /* __DRIVERS_PINCTRL_SCMI_H */
