diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index 7aeb91bec96..b2e9758fec8 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -42,6 +42,14 @@ config CAN_WORKQ_FRAMES_BUF_CNT
 	help
 	  Number of frames in the buffer of a zcan_work.
 
+config CAN_RX_TIMESTAMP
+	bool "Enable receiving timestamps"
+	depends on CAN_STM32
+	help
+	  This option enables a timestamp value of the CAN free running timer.
+	  The value is incremented every bit time and starts when the controller
+	  is initialized.
+
 config CAN_0
 	bool "Enable CAN 0"
 	help
diff --git a/include/drivers/can.h b/include/drivers/can.h
index 7798a9b5e8c..7c527c20b66 100644
--- a/include/drivers/can.h
+++ b/include/drivers/can.h
@@ -173,6 +173,13 @@ struct zcan_frame {
 		u8_t data[8];
 		u32_t data_32[2];
 	};
+#if defined(CONFIG_CAN_RX_TIMESTAMP)
+	/** Timer value of the CAN free running timer.
+	 * The timer is incremented every bit time and captured at the start
+	 * of frame bit (SOF).
+	 */
+	u16_t timestamp;
+#endif
 } __packed;
 
 /**