diff --git a/drivers/pinctrl/CMakeLists.txt b/drivers/pinctrl/CMakeLists.txt
index d06c8e6aebc..43006e99a3e 100644
--- a/drivers/pinctrl/CMakeLists.txt
+++ b/drivers/pinctrl/CMakeLists.txt
@@ -22,3 +22,4 @@ zephyr_library_sources_ifdef(CONFIG_PINCTRL_NXP_IOCON pinctrl_lpc_iocon.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_CC13XX_CC26XX pinctrl_cc13xx_cc26xx.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_ESP32 pinctrl_esp32.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_RV32M1 pinctrl_rv32m1.c)
+zephyr_library_sources_ifdef(CONFIG_PINCTRL_XLNX_ZYNQ pinctrl_xlnx_zynq.c)
diff --git a/drivers/pinctrl/Kconfig b/drivers/pinctrl/Kconfig
index 4c472fa14ed..a216cf41d6d 100644
--- a/drivers/pinctrl/Kconfig
+++ b/drivers/pinctrl/Kconfig
@@ -6,6 +6,10 @@ menuconfig PINCTRL
 
 if PINCTRL
 
+module = PINCTRL
+module-str = PINCTRL
+source "subsys/logging/Kconfig.template.log_config"
+
 config PINCTRL_STORE_REG
 	bool
 	help
@@ -47,5 +51,6 @@ source "drivers/pinctrl/Kconfig.lpc_iocon"
 source "drivers/pinctrl/Kconfig.cc13xx_cc26xx"
 source "drivers/pinctrl/Kconfig.esp32"
 source "drivers/pinctrl/Kconfig.rv32m1"
+source "drivers/pinctrl/Kconfig.xlnx"
 
 endif # PINCTRL
diff --git a/drivers/pinctrl/Kconfig.xlnx b/drivers/pinctrl/Kconfig.xlnx
new file mode 100644
index 00000000000..c76b757208b
--- /dev/null
+++ b/drivers/pinctrl/Kconfig.xlnx
@@ -0,0 +1,12 @@
+# Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>
+# SPDX-License-Identifier: Apache-2.0
+
+DT_COMPAT_XLNX_PINCTRL_ZYNQ := xlnx,pinctrl-zynq
+
+config PINCTRL_XLNX_ZYNQ
+	bool "Xilinx Zynq 7000 processor system MIO pin controller driver"
+	depends on SOC_FAMILY_XILINX_ZYNQ7000
+	default $(dt_compat_enabled,$(DT_COMPAT_XLNX_PINCTRL_ZYNQ))
+	select SYSCON
+	help
+	  Enable the Xilinx Zynq 7000 processor system MIO pin controller driver.
diff --git a/drivers/pinctrl/pinctrl_xlnx_zynq.c b/drivers/pinctrl/pinctrl_xlnx_zynq.c
new file mode 100644
index 00000000000..e19524ef85d
--- /dev/null
+++ b/drivers/pinctrl/pinctrl_xlnx_zynq.c
@@ -0,0 +1,77 @@
+/*
+ * Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/syscon.h>
+#include <zephyr/drivers/pinctrl.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+
+LOG_MODULE_REGISTER(pinctrl_xlnx_zynq, CONFIG_PINCTRL_LOG_LEVEL);
+
+#define DT_DRV_COMPAT xlnx_pinctrl_zynq
+
+BUILD_ASSERT(DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 1,
+	     "Unsupported number of instances");
+
+/* Relative SLCR register offsets for use in asserts */
+#define MIO_PIN_53_OFFSET    0x00d4
+#define SD0_WP_CD_SEL_OFFSET 0x0130
+#define SD1_WP_CD_SEL_OFFSET 0x0134
+
+static const struct device *slcr = DEVICE_DT_GET(DT_INST_PHANDLE(0, syscon));
+static mm_reg_t base = DT_INST_REG_ADDR(0);
+K_SEM_DEFINE(pinctrl_lock, 1, 1);
+
+int pinctrl_configure_pins(const pinctrl_soc_pin_t *pins, uint8_t pin_cnt, uintptr_t reg)
+{
+	uint16_t addr;
+	uint32_t val;
+	uint8_t i;
+	int err = 0;
+
+	ARG_UNUSED(reg);
+
+	if (!device_is_ready(slcr)) {
+		LOG_ERR("SLCR device not ready");
+		return -ENODEV;
+	}
+
+	/* Guard the read-modify-write operations */
+	k_sem_take(&pinctrl_lock, K_FOREVER);
+
+	for (i = 0; i < pin_cnt; i++) {
+		__ASSERT_NO_MSG(pins[i].offset <= MIO_PIN_53_OFFSET ||
+				pins[i].offset == SD0_WP_CD_SEL_OFFSET ||
+				pins[i].offset == SD1_WP_CD_SEL_OFFSET);
+
+		addr = base + pins[i].offset;
+
+		err = syscon_read_reg(slcr, addr, &val);
+		if (err != 0) {
+			LOG_ERR("failed to read SLCR addr 0x%04x (err %d)", addr, err);
+			break;
+		}
+
+		LOG_DBG("0x%04x: mask 0x%08x, val 0x%08x", addr, pins[i].mask, pins[i].val);
+		LOG_DBG("0x%04x r: 0x%08x", addr, val);
+
+		val &= ~(pins[i].mask);
+		val |= pins[i].val;
+
+		LOG_DBG("0x%04x w: 0x%08x", addr, val);
+
+		err = syscon_write_reg(slcr, addr, val);
+		if (err != 0) {
+			LOG_ERR("failed to write SLCR addr 0x%04x (err %d)", addr, err);
+			break;
+		}
+	}
+
+	k_sem_give(&pinctrl_lock);
+
+	return err;
+}