diff --git a/drivers/gpio/CMakeLists.txt b/drivers/gpio/CMakeLists.txt
index bb6ccecc57..5b1229fd00 100644
--- a/drivers/gpio/CMakeLists.txt
+++ b/drivers/gpio/CMakeLists.txt
@@ -81,6 +81,7 @@ zephyr_library_sources_ifdef(CONFIG_GPIO_NUMICRO    gpio_numicro.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_HOGS       gpio_hogs.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_NUMAKER    gpio_numaker.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_EFINIX_SAPPHIRE    gpio_efinix_sapphire.c)
+zephyr_library_sources_ifdef(CONFIG_GPIO_DAVINCI    gpio_davinci.c)
 
 if (CONFIG_GPIO_EMUL_SDL)
   zephyr_library_sources(gpio_emul_sdl.c)
diff --git a/drivers/gpio/Kconfig b/drivers/gpio/Kconfig
index 3e73eab3d9..7e368a9852 100644
--- a/drivers/gpio/Kconfig
+++ b/drivers/gpio/Kconfig
@@ -203,4 +203,6 @@ source "drivers/gpio/Kconfig.numaker"
 
 source "drivers/gpio/Kconfig.efinix_sapphire"
 
+source "drivers/gpio/Kconfig.davinci"
+
 endif # GPIO
diff --git a/drivers/gpio/Kconfig.davinci b/drivers/gpio/Kconfig.davinci
new file mode 100644
index 0000000000..2bd94cade4
--- /dev/null
+++ b/drivers/gpio/Kconfig.davinci
@@ -0,0 +1,11 @@
+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+config GPIO_DAVINCI
+	bool "Davinci GPIO Driver"
+	default y
+	depends on DT_HAS_TI_DAVINCI_GPIO_ENABLED
+	help
+		Enable the Davinci GPIO controller support.
diff --git a/drivers/gpio/gpio_davinci.c b/drivers/gpio/gpio_davinci.c
new file mode 100644
index 0000000000..5726ed1bf3
--- /dev/null
+++ b/drivers/gpio/gpio_davinci.c
@@ -0,0 +1,199 @@
+/*
+ * Copyright (C) 2023 BeagleBoard.org Foundation
+ * Copyright (C) 2023 S Prashanth
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT ti_davinci_gpio
+
+#include <errno.h>
+
+#include <zephyr/arch/common/sys_bitops.h>
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/gpio/gpio_utils.h>
+#include <zephyr/init.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/sys_io.h>
+
+/* Helper Macros for GPIO */
+#define DEV_CFG(dev) \
+		((const struct gpio_davinci_config * const)((dev)->config))
+#define DEV_DATA(dev) ((struct gpio_davinci_data *)(dev)->data)
+#define DEV_GPIO_CFG_BASE(dev) \
+	((struct gpio_davinci_regs *)DEVICE_MMIO_NAMED_GET(dev, port_base))
+
+#define GPIO_DAVINCI_DIR_RESET_VAL	(0xFFFFFFFF)
+
+struct gpio_davinci_regs {
+	uint32_t dir;
+	uint32_t out_data;
+	uint32_t set_data;
+	uint32_t clr_data;
+	uint32_t in_data;
+	uint32_t set_ris_trig;
+	uint32_t clr_ris_trig;
+	uint32_t set_fal_trig;
+	uint32_t clr_fal_trig;
+	uint32_t intstat;
+};
+
+struct gpio_davinci_data {
+	struct gpio_driver_data common;
+
+	DEVICE_MMIO_NAMED_RAM(port_base);
+
+	sys_slist_t cb;
+};
+
+struct gpio_davinci_config {
+	void (*bank_config)(const struct device *dev);
+	struct gpio_driver_config common;
+
+	DEVICE_MMIO_NAMED_ROM(port_base);
+
+	uint32_t port_num;
+};
+
+static int gpio_davinci_configure(const struct device *dev, gpio_pin_t pin,
+					gpio_flags_t flags)
+{
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	if ((flags & GPIO_SINGLE_ENDED) != 0) {
+		return -ENOTSUP;
+	}
+
+	if ((flags & (GPIO_PULL_UP | GPIO_PULL_DOWN)) != 0) {
+		return -ENOTSUP;
+	}
+
+	if ((flags & GPIO_OUTPUT) != 0) {
+		if ((flags & GPIO_OUTPUT_INIT_HIGH) != 0) {
+			regs->set_data = BIT(pin);
+		} else {
+			regs->clr_data = BIT(pin);
+		}
+
+		regs->dir &= (~(BIT(pin)));
+
+	} else {
+		regs->dir |= (BIT(pin));
+	}
+
+	return 0;
+}
+
+static int gpio_davinci_port_get_raw(const struct device *dev,
+					gpio_port_value_t *value)
+{
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	*value = regs->in_data;
+
+	return 0;
+}
+
+static int gpio_davinci_port_set_masked_raw(const struct device *dev,
+		gpio_port_pins_t mask, gpio_port_value_t value)
+{
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	regs->out_data = (regs->out_data & (~mask)) | (mask & value);
+
+	return 0;
+}
+
+static int gpio_davinci_port_set_bits_raw(const struct device *dev,
+						gpio_port_pins_t mask)
+{
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	regs->set_data |= mask;
+
+	return 0;
+}
+
+static int gpio_davinci_port_clear_bits_raw(const struct device *dev,
+						gpio_port_pins_t mask)
+{
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	regs->clr_data |= mask;
+
+	return 0;
+}
+
+static int gpio_davinci_port_toggle_bits(const struct device *dev,
+						gpio_port_pins_t mask)
+{
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	regs->out_data ^= mask;
+
+	return 0;
+}
+
+static const struct gpio_driver_api gpio_davinci_driver_api = {
+	.pin_configure = gpio_davinci_configure,
+	.port_get_raw = gpio_davinci_port_get_raw,
+	.port_set_masked_raw = gpio_davinci_port_set_masked_raw,
+	.port_set_bits_raw = gpio_davinci_port_set_bits_raw,
+	.port_clear_bits_raw = gpio_davinci_port_clear_bits_raw,
+	.port_toggle_bits = gpio_davinci_port_toggle_bits
+};
+
+static int gpio_davinci_init(const struct device *dev)
+{
+	const struct gpio_davinci_config *config = DEV_CFG(dev);
+	volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev);
+
+	DEVICE_MMIO_NAMED_MAP(dev, port_base, K_MEM_CACHE_NONE);
+
+	regs->dir = GPIO_DAVINCI_DIR_RESET_VAL;
+
+	config->bank_config(dev);
+
+	return 0;
+}
+
+#define GPIO_DAVINCI_INIT_FUNC(n)	\
+	static void gpio_davinci_bank_##n##_config(const struct device *dev)	\
+	{	\
+		volatile struct gpio_davinci_regs *regs = DEV_GPIO_CFG_BASE(dev); \
+		ARG_UNUSED(regs);	\
+	}
+
+#define GPIO_DAVINCI_DEVICE_INIT(n)	\
+	DEVICE_DT_INST_DEFINE(n, &gpio_davinci_##n##_init,	\
+		NULL, &gpio_davinci_##n##_data,	\
+		&gpio_davinci_##n##_config,	\
+		POST_KERNEL, CONFIG_GPIO_INIT_PRIORITY,	\
+		&api_funcs)
+
+#define GPIO_DAVINCI_INIT(n)	\
+	\
+	GPIO_DAVINCI_INIT_FUNC(n)	\
+	static const struct gpio_davinci_config gpio_davinci_##n##_config = {	\
+		.bank_config = gpio_davinci_bank_##n##_config,	\
+		.common = {	\
+			.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(n),	\
+		},	\
+		DEVICE_MMIO_NAMED_ROM_INIT(port_base, DT_DRV_INST(n)),	\
+		.port_num = n	\
+	};	\
+	\
+	static struct gpio_davinci_data gpio_davinci_##n##_data;	\
+	\
+	DEVICE_DT_INST_DEFINE(n,	\
+		&gpio_davinci_init,	\
+		NULL,	\
+		&gpio_davinci_##n##_data,	\
+		&gpio_davinci_##n##_config,	\
+		PRE_KERNEL_2,	\
+		CONFIG_GPIO_INIT_PRIORITY,	\
+		&gpio_davinci_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(GPIO_DAVINCI_INIT)
diff --git a/dts/bindings/gpio/ti,davinci-gpio-nexus.yaml b/dts/bindings/gpio/ti,davinci-gpio-nexus.yaml
new file mode 100644
index 0000000000..3cfccfa5ee
--- /dev/null
+++ b/dts/bindings/gpio/ti,davinci-gpio-nexus.yaml
@@ -0,0 +1,18 @@
+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+description: GPIO controller for Davinci and Keystone devices
+
+compatible: "ti,davinci-gpio-nexus"
+
+include: [base.yaml, gpio-nexus.yaml]
+
+properties:
+  "#gpio-cells":
+    const: 2
+
+gpio-cells:
+  - pin
+  - flags
diff --git a/dts/bindings/gpio/ti,davinci-gpio.yaml b/dts/bindings/gpio/ti,davinci-gpio.yaml
new file mode 100644
index 0000000000..0472dfa1aa
--- /dev/null
+++ b/dts/bindings/gpio/ti,davinci-gpio.yaml
@@ -0,0 +1,21 @@
+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+description: GPIO controller for Davinci and Keystone devices.
+
+compatible: "ti,davinci-gpio"
+
+include: [gpio-controller.yaml, base.yaml]
+
+properties:
+  reg:
+    required: true
+
+  "#gpio-cells":
+    const: 2
+
+gpio-cells:
+  - pin
+  - flags