diff --git a/drivers/sensor/qdec_stm32/qdec_stm32.c b/drivers/sensor/qdec_stm32/qdec_stm32.c
index de382476c5..b60c242684 100644
--- a/drivers/sensor/qdec_stm32/qdec_stm32.c
+++ b/drivers/sensor/qdec_stm32/qdec_stm32.c
@@ -30,6 +30,7 @@ struct qdec_stm32_dev_cfg {
 	const struct pinctrl_dev_config *pin_config;
 	struct stm32_pclken pclken;
 	TIM_TypeDef *timer_inst;
+	uint32_t encoder_mode;
 	bool is_input_polarity_inverted;
 	uint8_t input_filtering_level;
 	uint32_t counts_per_revolution;
@@ -107,6 +108,8 @@ static int qdec_stm32_initialize(const struct device *dev)
 
 	LL_TIM_ENCODER_StructInit(&init_props);
 
+	init_props.EncoderMode = dev_cfg->encoder_mode;
+
 	if (dev_cfg->is_input_polarity_inverted) {
 		init_props.IC1Polarity = LL_TIM_IC_POLARITY_FALLING;
 		init_props.IC2Polarity = LL_TIM_IC_POLARITY_FALLING;
@@ -139,12 +142,16 @@ static const struct sensor_driver_api qdec_stm32_driver_api = {
 };
 
 #define QDEC_STM32_INIT(n)                                                                         \
+	BUILD_ASSERT(!(DT_INST_PROP(n, st_encoder_mode) & ~TIM_SMCR_SMS),                          \
+		     "Encoder mode is not supported by this MCU");                                 \
+                                                                                                   \
 	PINCTRL_DT_INST_DEFINE(n);                                                                 \
 	static const struct qdec_stm32_dev_cfg qdec##n##_stm32_config = {                          \
 		.pin_config = PINCTRL_DT_INST_DEV_CONFIG_GET(n),                                   \
 		.timer_inst = ((TIM_TypeDef *)DT_REG_ADDR(DT_INST_PARENT(n))),                     \
 		.pclken = {.bus = DT_CLOCKS_CELL(DT_INST_PARENT(n), bus),                          \
 			   .enr = DT_CLOCKS_CELL(DT_INST_PARENT(n), bits)},                        \
+		.encoder_mode = DT_INST_PROP(n, st_encoder_mode),                                  \
 		.is_input_polarity_inverted = DT_INST_PROP(n, st_input_polarity_inverted),         \
 		.input_filtering_level = DT_INST_PROP(n, st_input_filter_level),                   \
 		.counts_per_revolution = DT_INST_PROP(n, st_counts_per_revolution),                \
diff --git a/dts/bindings/sensor/st,stm32-qdec.yaml b/dts/bindings/sensor/st,stm32-qdec.yaml
index 9efae737e7..c8deae1bb9 100644
--- a/dts/bindings/sensor/st,stm32-qdec.yaml
+++ b/dts/bindings/sensor/st,stm32-qdec.yaml
@@ -16,6 +16,34 @@ properties:
   pinctrl-names:
     required: true
 
+  st,encoder-mode:
+    type: int
+    description: |
+      Set encoder mode.
+      The following modes are supported:
+      0x1: Encoder mode 1 (Default)
+      0x2: Encoder mode 2
+      0x3: Encoder mode 3
+      Some MCUs supports additional modes:
+      0x10002: Encoder mode: Clock plus direction, x2 mode
+      0x10003: Encoder mode: Clock plus direction, x1 mode
+      0x10004: Encoder mode: Directional Clock, x2 mode
+      0x10005: Encoder mode: Directional Clock, x1 mode
+      0x10006: Quadrature encoder mode: x1 mode, counting on tim_ti1fp1
+      0x10007: Quadrature encoder mode: x1 mode, counting on tim_ti2fp2
+      Default value complies with stm32 low level timer encoder init value.
+    default: 0x1
+    enum:
+      - 0x1
+      - 0x2
+      - 0x3
+      - 0x10002
+      - 0x10003
+      - 0x10004
+      - 0x10005
+      - 0x10006
+      - 0x10007
+
   st,input-polarity-inverted:
     type: boolean
     description: Encoder is triggered by a falling edge on the input pin