diff --git a/include/zephyr/kernel.h b/include/zephyr/kernel.h
index 2bfa9af5a09..db5b3cd4d6d 100644
--- a/include/zephyr/kernel.h
+++ b/include/zephyr/kernel.h
@@ -464,6 +464,19 @@ __syscall int32_t k_usleep(int32_t us);
  */
 __syscall void k_busy_wait(uint32_t usec_to_wait);
 
+/**
+ * @brief Check whether it is possible to yield in the current context.
+ *
+ * This routine checks whether the kernel is in a state where it is possible to
+ * yield or call blocking API's. It should be used by code that needs to yield
+ * to perform correctly, but can feasibly be called from contexts where that
+ * is not possible. For example in the PRE_KERNEL initialization step, or when
+ * being run from the idle thread.
+ *
+ * @return True if it is possible to yield in the current context, false otherwise.
+ */
+bool k_can_yield(void);
+
 /**
  * @brief Yield the current thread.
  *
diff --git a/kernel/sched.c b/kernel/sched.c
index af51bd907d1..9454117c579 100644
--- a/kernel/sched.c
+++ b/kernel/sched.c
@@ -1362,6 +1362,12 @@ static inline void z_vrfy_k_thread_deadline_set(k_tid_t tid, int deadline)
 #endif
 #endif
 
+bool k_can_yield(void)
+{
+	return !(k_is_pre_kernel() || k_is_in_isr() ||
+		 z_is_idle_thread_object(_current));
+}
+
 void z_impl_k_yield(void)
 {
 	__ASSERT(!arch_is_in_isr(), "");