diff --git a/arch/riscv/Kconfig b/arch/riscv/Kconfig
index 296cf57d4ac..228155daa24 100644
--- a/arch/riscv/Kconfig
+++ b/arch/riscv/Kconfig
@@ -147,12 +147,43 @@ menuconfig RISCV_PMP
 	select MPU
 	select SRAM_REGION_PERMISSIONS
 	select ARCH_MEM_DOMAIN_SYNCHRONOUS_API if USERSPACE
-	select PMP_POWER_OF_TWO_ALIGNMENT if USERSPACE
+	select ARCH_MEM_DOMAIN_DATA if USERSPACE
 	help
 	  MCU implements Physical Memory Protection.
 
 if RISCV_PMP
-source "arch/riscv/core/pmp/Kconfig"
+
+config PMP_SLOT
+	int "Number of PMP slots"
+	default 8
+	help
+	  This is the number of PMP entries implemented by the hardware.
+	  Typical values are 8 or 16.
+
+config PMP_STACK_GUARD
+	bool "Thread Stack Guard"
+	help
+	  This implements a trap using the PMP to catch stack overflows
+	  by marking the bottom stack area as not accessible.
+
+config PMP_STACK_GUARD_MIN_SIZE
+	int "Guard size"
+	depends on PMP_STACK_GUARD
+	default 64
+	help
+	  Size of the stack guard area. This should be large enough to
+	  accommodate the stack overflow exception stack usage.
+
+config PMP_POWER_OF_TWO_ALIGNMENT
+	bool "Power-of-two alignment for PMP memory areas"
+	default y if TEST_USERSPACE
+	default y if (PMP_SLOT = 8)
+	select MPU_REQUIRES_POWER_OF_TWO_ALIGNMENT
+	select GEN_PRIV_STACKS
+	help
+	  This option reduces the PMP slot usage but increases
+	  memory consumption.
+
 endif #RISCV_PMP
 
 endmenu
diff --git a/arch/riscv/core/CMakeLists.txt b/arch/riscv/core/CMakeLists.txt
index 9bb2619f8f2..a4356bc9dce 100644
--- a/arch/riscv/core/CMakeLists.txt
+++ b/arch/riscv/core/CMakeLists.txt
@@ -1,7 +1,5 @@
 # SPDX-License-Identifier: Apache-2.0
 
-add_subdirectory_ifdef(CONFIG_RISCV_PMP pmp)
-
 zephyr_library()
 
 zephyr_library_sources(
@@ -19,6 +17,7 @@ zephyr_library_sources(
 
 zephyr_library_sources_ifdef(CONFIG_DEBUG_COREDUMP coredump.c)
 zephyr_library_sources_ifdef(CONFIG_IRQ_OFFLOAD irq_offload.c)
+zephyr_library_sources_ifdef(CONFIG_RISCV_PMP pmp.c pmp.S)
 zephyr_library_sources_ifdef(CONFIG_THREAD_LOCAL_STORAGE tls.c)
 zephyr_library_sources_ifdef(CONFIG_USERSPACE userspace.S)
 zephyr_library_sources_ifdef(CONFIG_SEMIHOST semihost.c)
diff --git a/arch/riscv/core/isr.S b/arch/riscv/core/isr.S
index 62bd429b21d..957ca785625 100644
--- a/arch/riscv/core/isr.S
+++ b/arch/riscv/core/isr.S
@@ -246,11 +246,6 @@ skip_store_fp_caller_saved:
 	/* If a0 != 0, jump to is_interrupt */
 	bnez a0, is_interrupt
 
-#ifdef CONFIG_PMP_STACK_GUARD
-	li t0, MSTATUS_MPRV
-	csrs mstatus, t0
-#endif
-
 	/*
 	 * If the exception is the result of an ECALL, check whether to
 	 * perform a context-switch or an IRQ offload. Otherwise call _Fault
@@ -301,6 +296,14 @@ is_kernel_syscall:
 	addi t0, t0, 4
 	sr t0, __z_arch_esf_t_mepc_OFFSET(sp)
 
+#ifdef CONFIG_PMP_STACK_GUARD
+	/* Re-activate PMP for m-mode */
+	li t1, MSTATUS_MPP
+	csrc mstatus, t1
+	li t1, MSTATUS_MPRV
+	csrs mstatus, t1
+#endif
+
 	/* Determine what to do. Operation code is in a7. */
 	lr a7, __z_arch_esf_t_a7_OFFSET(sp)
 
@@ -356,6 +359,16 @@ do_irq_offload:
 
 #ifdef CONFIG_USERSPACE
 is_user_syscall:
+
+#ifdef CONFIG_PMP_STACK_GUARD
+	/*
+	 * We came from userspace and need to reconfigure the
+	 * PMP for kernel mode stack guard.
+	 */
+	lr a0, ___cpu_t_current_OFFSET(s0)
+	call z_riscv_pmp_stackguard_enable
+#endif
+
 	/* It is safe to re-enable IRQs now */
 	csrs mstatus, MSTATUS_IEN
 
@@ -405,6 +418,29 @@ valid_syscall_id:
 #endif /* CONFIG_USERSPACE */
 
 is_interrupt:
+
+#ifdef CONFIG_PMP_STACK_GUARD
+#ifdef CONFIG_USERSPACE
+	/*
+	 * If we came from userspace then we need to reconfigure the
+	 * PMP for kernel mode stack guard.
+	 */
+	lr t0, __z_arch_esf_t_mstatus_OFFSET(sp)
+	li t1, MSTATUS_MPP
+	and t0, t0, t1
+	bnez t0, 1f
+	lr a0, ___cpu_t_current_OFFSET(s0)
+	call z_riscv_pmp_stackguard_enable
+	j 2f
+#endif /* CONFIG_USERSPACE */
+1:	/* Re-activate PMP for m-mode */
+	li t1, MSTATUS_MPP
+	csrc mstatus, t1
+	li t1, MSTATUS_MPRV
+	csrs mstatus, t1
+2:
+#endif
+
 	/* Increment _current_cpu->nested */
 	lw t3, ___cpu_t_nested_OFFSET(s0)
 	addi t4, t3, 1
@@ -547,6 +583,12 @@ no_fp:	/* make sure this is reflected in the restored mstatus */
 	and t0, t4, t1
 	bnez t0, 1f
 
+#ifdef CONFIG_PMP_STACK_GUARD
+	/* Remove kernel stack guard and Reconfigure PMP for user mode */
+	lr a0, ___cpu_t_current_OFFSET(s0)
+	call z_riscv_pmp_usermode_enable
+#endif
+
 #if !defined(CONFIG_SMP)
 	/* Set user mode variable */
 	li t0, 1
diff --git a/arch/riscv/core/smp.c b/arch/riscv/core/smp.c
index dcc20b742e0..845f17eedbb 100644
--- a/arch/riscv/core/smp.c
+++ b/arch/riscv/core/smp.c
@@ -35,8 +35,8 @@ void z_riscv_secondary_cpu_init(int cpu_num)
 #if defined(CONFIG_RISCV_SOC_INTERRUPT_INIT)
 	soc_interrupt_init();
 #endif
-#ifdef CONFIG_PMP_STACK_GUARD
-	z_riscv_configure_interrupt_stack_guard();
+#ifdef CONFIG_RISCV_PMP
+	z_riscv_pmp_init();
 #endif
 #ifdef CONFIG_SMP
 	irq_enable(RISCV_MACHINE_SOFT_IRQ);
diff --git a/arch/riscv/core/switch.S b/arch/riscv/core/switch.S
index c50cff67b71..c9a9d121b76 100644
--- a/arch/riscv/core/switch.S
+++ b/arch/riscv/core/switch.S
@@ -75,19 +75,25 @@ skip_store_fp_callee_saved:
 	/* Get the new thread's stack pointer */
 	lr sp, _thread_offset_to_sp(a0)
 
-#ifdef CONFIG_PMP_STACK_GUARD
-	/* Preserve a0 across following call. s0 is not yet restored. */
+#if defined(CONFIG_PMP_STACK_GUARD)
+	/*
+	 * Stack guard has priority over user space for PMP usage.
+	 * Preserve a0 across following call. s0 is not yet restored.
+	 */
 	mv s0, a0
-	call z_riscv_configure_stack_guard
+	call z_riscv_pmp_stackguard_enable
 	mv a0, s0
-#endif
-
-#ifdef CONFIG_USERSPACE
+#elif defined(CONFIG_USERSPACE)
+	/*
+	 * When stackguard is not enabled, we need to configure the PMP only
+	 * at context switch time as the PMP is not in effect while inm-mode.
+	 * (it is done on every exception return otherwise).
+	 */
 	lb t0, _thread_offset_to_user_options(a0)
 	andi t0, t0, K_USER
 	beqz t0, not_user_task
 	mv s0, a0
-	call z_riscv_configure_user_allowed_stack
+	call z_riscv_pmp_usermode_enable
 	mv a0, s0
 not_user_task:
 #endif
diff --git a/arch/riscv/core/thread.c b/arch/riscv/core/thread.c
index e7709a03770..29923259969 100644
--- a/arch/riscv/core/thread.c
+++ b/arch/riscv/core/thread.c
@@ -9,7 +9,7 @@
 #include <ksched.h>
 #include <arch/riscv/csr.h>
 #include <stdio.h>
-#include <core_pmp.h>
+#include <pmp.h>
 
 #if defined(CONFIG_USERSPACE) && !defined(CONFIG_SMP)
 /*
@@ -81,13 +81,9 @@ void arch_new_thread(struct k_thread *thread, k_thread_stack_t *stack,
 	stack_init->mstatus |= MSTATUS_FS_INIT;
 #endif
 
-#if defined(CONFIG_PMP_STACK_GUARD) || defined(CONFIG_USERSPACE)
-	/* Clear PMP context if RISC-V PMP is used. */
-	z_riscv_pmp_init_thread(thread);
-#endif /* CONFIG_PMP_STACK_GUARD || CONFIG_USERSPACE */
-
 #if defined(CONFIG_USERSPACE)
 	/* Clear user thread context */
+	z_riscv_pmp_usermode_init(thread);
 	thread->arch.priv_stack_start = 0;
 
 	/* the unwound stack pointer upon exiting exception */
@@ -119,7 +115,7 @@ void arch_new_thread(struct k_thread *thread, k_thread_stack_t *stack,
 
 #if defined(CONFIG_PMP_STACK_GUARD)
 	/* Setup PMP regions of PMP stack guard of thread. */
-	z_riscv_init_stack_guard(thread);
+	z_riscv_pmp_stackguard_prepare(thread);
 #endif /* CONFIG_PMP_STACK_GUARD */
 
 #ifdef CONFIG_RISCV_SOC_CONTEXT_SAVE
@@ -245,16 +241,17 @@ FUNC_NORETURN void arch_user_mode_enter(k_thread_entry_t user_entry,
 	csr_write(mstatus, status);
 	csr_write(mepc, z_thread_entry);
 
-	/* exception stack has to be in mscratch */
-	csr_write(mscratch, top_of_priv_stack);
-
-	/* Set up Physical Memory Protection */
-#if defined(CONFIG_PMP_STACK_GUARD)
-	z_riscv_init_stack_guard(_current);
+#ifdef CONFIG_PMP_STACK_GUARD
+	/* reconfigure as the kernel mode stack will be different */
+	z_riscv_pmp_stackguard_prepare(_current);
 #endif
 
-	z_riscv_init_user_accesses(_current);
-	z_riscv_configure_user_allowed_stack(_current);
+	/* Set up Physical Memory Protection */
+	z_riscv_pmp_usermode_prepare(_current);
+	z_riscv_pmp_usermode_enable(_current);
+
+	/* exception stack has to be in mscratch */
+	csr_write(mscratch, top_of_priv_stack);
 
 #if !defined(CONFIG_SMP)
 	is_user_mode = true;
diff --git a/arch/riscv/include/kernel_arch_func.h b/arch/riscv/include/kernel_arch_func.h
index 5126e9a1edb..d481892984b 100644
--- a/arch/riscv/include/kernel_arch_func.h
+++ b/arch/riscv/include/kernel_arch_func.h
@@ -16,6 +16,7 @@
 #define ZEPHYR_ARCH_RISCV_INCLUDE_KERNEL_ARCH_FUNC_H_
 
 #include <kernel_arch_data.h>
+#include <pmp.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -23,17 +24,13 @@ extern "C" {
 
 #ifndef _ASMLANGUAGE
 
-#ifdef CONFIG_RISCV_PMP
-void z_riscv_configure_static_pmp_regions(void);
-#endif
-
 static ALWAYS_INLINE void arch_kernel_init(void)
 {
 #ifdef CONFIG_USERSPACE
 	csr_write(mscratch, 0);
 #endif
 #ifdef CONFIG_RISCV_PMP
-	z_riscv_configure_static_pmp_regions();
+	z_riscv_pmp_init();
 #endif
 }
 
diff --git a/soc/riscv/riscv-privilege/virt/Kconfig.defconfig.series b/soc/riscv/riscv-privilege/virt/Kconfig.defconfig.series
index 3fe6eea360b..6c6168952c7 100644
--- a/soc/riscv/riscv-privilege/virt/Kconfig.defconfig.series
+++ b/soc/riscv/riscv-privilege/virt/Kconfig.defconfig.series
@@ -33,9 +33,6 @@ config MAX_IRQ_PER_AGGREGATOR
 config NUM_IRQS
 	default 64
 
-config PMP_POWER_OF_TWO_ALIGNMENT
-	default y
-
 config PMP_SLOT
 	default 16
 
diff --git a/tests/kernel/mem_protect/userspace/src/main.c b/tests/kernel/mem_protect/userspace/src/main.c
index e54720ff2f3..c28b8eec6e3 100644
--- a/tests/kernel/mem_protect/userspace/src/main.c
+++ b/tests/kernel/mem_protect/userspace/src/main.c
@@ -27,10 +27,6 @@
 extern void arm_core_mpu_disable(void);
 #endif
 
-#if defined(CONFIG_RISCV)
-#include <../arch/riscv/include/core_pmp.h>
-#endif
-
 #define INFO(fmt, ...) printk(fmt, ##__VA_ARGS__)
 #define PIPE_LEN 1
 #define BYTES_TO_READ_WRITE 1
@@ -240,7 +236,12 @@ static void test_disable_mmu_mpu(void)
 #elif defined(CONFIG_RISCV)
 	set_fault(K_ERR_CPU_EXCEPTION);
 
-	z_riscv_pmp_clear_config();
+	/*
+	 * Try to make everything accessible through PMP slot 3
+	 * which should not be locked.
+	 */
+	csr_write(pmpaddr3, LLONG_MAX);
+	csr_write(pmpcfg0, (PMP_R|PMP_W|PMP_X|PMP_NAPOT) << 24);
 #else
 #error "Not implemented for this architecture"
 #endif
@@ -1048,10 +1049,8 @@ void test_main(void)
 #if defined(CONFIG_GEN_PRIV_STACKS)
 	priv_stack_ptr = (char *)z_priv_stack_find(ztest_thread_stack);
 #else
-	struct _thread_arch *thread_struct;
-
-	thread_struct = ((struct _thread_arch *) ztest_thread_stack);
-	priv_stack_ptr = (char *)thread_struct->priv_stack_start + 1;
+	priv_stack_ptr = (char *)((uintptr_t)ztest_thread_stack +
+				  Z_RISCV_STACK_GUARD_SIZE);
 #endif
 #endif
 	k_thread_access_grant(k_current_get(),