diff --git a/doc/hardware/peripherals/index.rst b/doc/hardware/peripherals/index.rst
index aad9e9e7810..e2574e75993 100644
--- a/doc/hardware/peripherals/index.rst
+++ b/doc/hardware/peripherals/index.rst
@@ -55,6 +55,7 @@ Peripherals
    sdhc.rst
    sensor/index.rst
    spi.rst
+   stepper.rst
    smbus.rst
    uart.rst
    usbc_vbus.rst
diff --git a/doc/hardware/peripherals/stepper.rst b/doc/hardware/peripherals/stepper.rst
new file mode 100644
index 00000000000..9a74299cc7d
--- /dev/null
+++ b/doc/hardware/peripherals/stepper.rst
@@ -0,0 +1,24 @@
+.. _stepper_api:
+
+Stepper API
+###########
+
+Overview
+********
+
+The Stepper API provides a set of functions for controlling and configuring stepper motors.
+It supports a variety of operations, including enabling/disabling the controller, setting the
+target position of the motor and thereby setting the motor in motion, setting/getting the actual
+position of the motor and so on.
+
+Configuration Options
+*********************
+
+Related configuration options:
+
+* :kconfig:option:`CONFIG_STEPPER_INIT_PRIORITY`
+
+API Reference
+*************
+
+.. doxygengroup:: stepper_interface