diff --git a/tests/drivers/i2c/i2c_slave_api/boards/rpi_pico.conf b/tests/drivers/i2c/i2c_slave_api/boards/rpi_pico.conf
new file mode 100644
index 00000000000..9f1a61ddd97
--- /dev/null
+++ b/tests/drivers/i2c/i2c_slave_api/boards/rpi_pico.conf
@@ -0,0 +1,2 @@
+CONFIG_I2C=y
+CONFIG_I2C_SLAVE=y
diff --git a/tests/drivers/i2c/i2c_slave_api/boards/rpi_pico.overlay b/tests/drivers/i2c/i2c_slave_api/boards/rpi_pico.overlay
new file mode 100644
index 00000000000..c1aed345376
--- /dev/null
+++ b/tests/drivers/i2c/i2c_slave_api/boards/rpi_pico.overlay
@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2022 Andrei-Edward Popa
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&i2c0 {
+	eeprom0: eeprom@54 {
+		compatible = "atmel,at24";
+		reg = <0x54>;
+		label = "EEPROM_0";
+		size = <1024>;
+		pagesize = <16>;
+		address-width = <8>;
+		timeout = <5>;
+	};
+};
+
+&i2c1 {
+	eeprom1: eeprom@56 {
+		compatible = "atmel,at24";
+		reg = <0x56>;
+		label = "EEPROM_1";
+		size = <1024>;
+		pagesize = <16>;
+		address-width = <8>;
+		timeout = <5>;
+	};
+};
diff --git a/tests/drivers/i2c/i2c_slave_api/testcase.yaml b/tests/drivers/i2c/i2c_slave_api/testcase.yaml
index 138bfc338ca..8f4522196bb 100644
--- a/tests/drivers/i2c/i2c_slave_api/testcase.yaml
+++ b/tests/drivers/i2c/i2c_slave_api/testcase.yaml
@@ -7,6 +7,6 @@ common:
 
 tests:
   drivers.i2c_slave.dual_role:
-    platform_allow: nucleo_f091rc stm32f072b_disco nucleo_g071rb
+    platform_allow: nucleo_f091rc stm32f072b_disco nucleo_g071rb rpi_pico
     extra_configs:
       - CONFIG_APP_DUAL_ROLE_I2C=y