diff --git a/drivers/bluetooth/hci/Kconfig b/drivers/bluetooth/hci/Kconfig
index 694a532e017..15571a057c3 100644
--- a/drivers/bluetooth/hci/Kconfig
+++ b/drivers/bluetooth/hci/Kconfig
@@ -103,7 +103,7 @@ if BT_RPMSG
 
 config BT_RPMSG_NRF53
 	bool "nRF53 configuration of RPMsg"
-	default y if BOARD_NRF5340_DK_NRF5340_CPUAPP
+	default y if (BOARD_NRF5340_DK_NRF5340_CPUAPP || BOARD_NRF5340_DK_NRF5340_CPUAPPNS)
 	select IPM
 	select IPM_NRFX
 	select IPM_MSG_CH_1_ENABLE