diff --git a/CMakeLists.txt b/CMakeLists.txt
index 196a87294ea..9ea00420e78 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -344,6 +344,18 @@ if (CONFIG_PICOLIBC AND NOT CONFIG_PICOLIBC_IO_FLOAT)
   zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,no_printf_return_value>>)
 endif()
 
+if(CONFIG_UBSAN)
+  zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,sanitizer_undefined>>)
+  zephyr_link_libraries($<TARGET_PROPERTY:linker,sanitizer_undefined>)
+  if(CONFIG_UBSAN_LIBRARY)
+    zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,sanitizer_undefined_library>>)
+    zephyr_link_libraries($<TARGET_PROPERTY:linker,sanitizer_undefined_library>)
+  elseif(CONFIG_UBSAN_TRAP)
+    zephyr_compile_options($<$<COMPILE_LANGUAGE:C>:$<TARGET_PROPERTY:compiler,sanitizer_undefined_trap>>)
+    zephyr_link_libraries($<TARGET_PROPERTY:linker,sanitizer_undefined_trap>)
+  endif()
+endif()
+
 # @Intent: Set compiler specific flag for tentative definitions, no-common
 zephyr_compile_options($<TARGET_PROPERTY:compiler,no_common>)
 
diff --git a/arch/Kconfig b/arch/Kconfig
index 916351ae605..94880c284fb 100644
--- a/arch/Kconfig
+++ b/arch/Kconfig
@@ -327,6 +327,7 @@ config PRIVILEGED_STACK_SIZE
 
 config KOBJECT_TEXT_AREA
 	int "Size of kobject text area"
+	default 1024 if UBSAN
 	default 512 if COVERAGE_GCOV
 	default 512 if NO_OPTIMIZATIONS
 	default 512 if STACK_CANARIES && RISCV
diff --git a/arch/arm64/core/Kconfig b/arch/arm64/core/Kconfig
index 35a480a24fd..21327f62c1b 100644
--- a/arch/arm64/core/Kconfig
+++ b/arch/arm64/core/Kconfig
@@ -126,6 +126,7 @@ config PRIVILEGED_STACK_SIZE
 	default 4096
 
 config KOBJECT_TEXT_AREA
+	default 1024 if UBSAN
 	default 512 if TEST
 
 config WAIT_AT_RESET_VECTOR
diff --git a/cmake/compiler/gcc/compiler_flags.cmake b/cmake/compiler/gcc/compiler_flags.cmake
index 48afd244ac7..53b42823717 100644
--- a/cmake/compiler/gcc/compiler_flags.cmake
+++ b/cmake/compiler/gcc/compiler_flags.cmake
@@ -197,6 +197,10 @@ if(NOT CONFIG_NO_OPTIMIZATIONS)
   set_compiler_property(PROPERTY security_fortify_run_time _FORTIFY_SOURCE=2)
 endif()
 
+check_set_compiler_property(PROPERTY sanitizer_undefined -fsanitize=undefined)
+check_set_compiler_property(PROPERTY sanitizer_undefined_trap -fsanitize-undefined-trap-on-error)
+check_set_compiler_property(PROPERTY sanitizer_undefined_library)
+
 # gcc flag for a hosted (no-freestanding) application
 check_set_compiler_property(APPEND PROPERTY hosted -fno-freestanding)
 
diff --git a/cmake/linker/ld/linker_flags.cmake b/cmake/linker/ld/linker_flags.cmake
index 0e0e8b6b0a1..885a1844cc5 100644
--- a/cmake/linker/ld/linker_flags.cmake
+++ b/cmake/linker/ld/linker_flags.cmake
@@ -24,6 +24,10 @@ check_set_linker_property(TARGET linker PROPERTY orphan_error
 
 check_set_linker_property(TARGET linker PROPERTY memusage "${LINKERFLAGPREFIX},--print-memory-usage")
 
+check_set_linker_property(TARGET linker PROPERTY sanitizer_undefined -fsanitize=undefined)
+check_set_linker_property(TARGET linker PROPERTY sanitizer_undefined_trap -fsanitize-undefined-trap-on-error)
+check_set_linker_property(TARGET linker PROPERTY sanitizer_undefined_library)
+
 # -no-pie is not supported until binutils 2.37.
 # If -no-pie is passed to old binutils <= 2.36, it is parsed
 # as separate arguments -n and -o, which results in output file
diff --git a/subsys/debug/Kconfig b/subsys/debug/Kconfig
index 6ee215c16f5..4fc64deccf5 100644
--- a/subsys/debug/Kconfig
+++ b/subsys/debug/Kconfig
@@ -67,12 +67,35 @@ config ASAN_NOP_DLCLOSE
 
 config UBSAN
 	bool "Build with undefined behavior sanitizer"
-	depends on ARCH_POSIX
 	help
-	  Builds Zephyr with Undefined Behavior Sanitizer enabled.
-	  This is currently only supported by boards based on the posix
-	  architecture, and requires a recent-ish compiler with the
-	  ``-fsanitize=undefined`` command line option.
+	  Builds Zephyr with Undefined Behavior Sanitizer enabled.  This
+	  requires a recent-ish compiler with the ``-fsanitize=undefined``
+	  command line option.
+
+choice UBSAN_MODE
+	prompt "Undefined behavior sanitizer mode"
+	depends on UBSAN
+	default UBSAN_LIBRARY
+
+config UBSAN_LIBRARY
+	bool "Call ubsan routines"
+	depends on ARCH_POSIX || PICOLIBC
+	help
+	  Call ubsan library routines when undefined behavior is detected
+	  at runtime. This provides information about the faulting
+	  condition along with the source filename, line number, types and
+	  values involved.  This is currently only supported by boards
+	  based on the posix architecture or when building with picolibc.
+
+config UBSAN_TRAP
+	bool "Call __builtin_trap"
+	help
+	  When undefined behavior is detected, invoke __builtin_trap to
+	  cause an exception to be raised. This can be used on any target,
+	  but the lack of information makes figuring out the triggering
+	  code difficult.
+
+endchoice
 
 config MSAN
 	bool "Build with memory sanitizer"