diff --git a/drivers/bluetooth/hci/rpmsg.c b/drivers/bluetooth/hci/rpmsg.c
index 786f701922b..4706d2c3b52 100644
--- a/drivers/bluetooth/hci/rpmsg.c
+++ b/drivers/bluetooth/hci/rpmsg.c
@@ -19,6 +19,7 @@
 #define RPMSG_ACL 0x02
 #define RPMSG_SCO 0x03
 #define RPMSG_EVT 0x04
+#define RPMSG_ISO 0x05
 
 int bt_rpmsg_platform_init(void);
 int bt_rpmsg_platform_send(struct net_buf *buf);
@@ -123,6 +124,40 @@ static struct net_buf *bt_rpmsg_acl_recv(uint8_t *data, size_t remaining)
 	return buf;
 }
 
+static struct net_buf *bt_rpmsg_iso_recv(uint8_t *data, size_t remaining)
+{
+	struct bt_hci_iso_hdr hdr;
+	struct net_buf *buf;
+
+	if (remaining < sizeof(hdr)) {
+		BT_ERR("Not enough data for ISO header");
+		return NULL;
+	}
+
+	buf = bt_buf_get_rx(BT_BUF_ISO_IN, K_NO_WAIT);
+	if (buf) {
+		memcpy((void *)&hdr, data, sizeof(hdr));
+		data += sizeof(hdr);
+		remaining -= sizeof(hdr);
+
+		net_buf_add_mem(buf, &hdr, sizeof(hdr));
+	} else {
+		BT_ERR("No available ISO buffers!");
+		return NULL;
+	}
+
+	if (remaining != sys_le16_to_cpu(hdr.len)) {
+		BT_ERR("ISO payload length is not correct");
+		net_buf_unref(buf);
+		return NULL;
+	}
+
+	BT_DBG("len %zu", remaining);
+	net_buf_add_mem(buf, data, remaining);
+
+	return buf;
+}
+
 void bt_rpmsg_rx(uint8_t *data, size_t len)
 {
 	uint8_t pkt_indicator;
@@ -143,6 +178,10 @@ void bt_rpmsg_rx(uint8_t *data, size_t len)
 		buf = bt_rpmsg_acl_recv(data, remaining);
 		break;
 
+	case RPMSG_ISO:
+		buf = bt_rpmsg_iso_recv(data, remaining);
+		break;
+
 	default:
 		BT_ERR("Unknown HCI type %u", pkt_indicator);
 		return;
@@ -171,6 +210,9 @@ static int bt_rpmsg_send(struct net_buf *buf)
 	case BT_BUF_CMD:
 		pkt_indicator = RPMSG_CMD;
 		break;
+	case BT_BUF_ISO_OUT:
+		pkt_indicator = RPMSG_ISO;
+		break;
 	default:
 		BT_ERR("Unknown type %u", bt_buf_get_type(buf));
 		goto done;
diff --git a/samples/bluetooth/hci_rpmsg/src/main.c b/samples/bluetooth/hci_rpmsg/src/main.c
index e4c9abae7b1..68dfe7abe9f 100644
--- a/samples/bluetooth/hci_rpmsg/src/main.c
+++ b/samples/bluetooth/hci_rpmsg/src/main.c
@@ -143,6 +143,7 @@ static K_FIFO_DEFINE(tx_queue);
 #define HCI_RPMSG_ACL 0x02
 #define HCI_RPMSG_SCO 0x03
 #define HCI_RPMSG_EVT 0x04
+#define HCI_RPMSG_ISO 0x05
 
 static struct net_buf *hci_rpmsg_cmd_recv(uint8_t *data, size_t remaining)
 {
@@ -206,6 +207,37 @@ static struct net_buf *hci_rpmsg_acl_recv(uint8_t *data, size_t remaining)
 	return buf;
 }
 
+static struct net_buf *hci_rpmsg_iso_recv(uint8_t *data, size_t remaining)
+{
+	struct bt_hci_iso_hdr *hdr = (void *)data;
+	struct net_buf *buf;
+
+	if (remaining < sizeof(*hdr)) {
+		LOG_ERR("Not enough data for ISO header");
+		return NULL;
+	}
+
+	buf = bt_buf_get_tx(BT_BUF_ISO_OUT, K_NO_WAIT, hdr, sizeof(*hdr));
+	if (buf) {
+		data += sizeof(*hdr);
+		remaining -= sizeof(*hdr);
+	} else {
+		LOG_ERR("No available ISO buffers!");
+		return NULL;
+	}
+
+	if (remaining != sys_le16_to_cpu(hdr->len)) {
+		LOG_ERR("ISO payload length is not correct");
+		net_buf_unref(buf);
+		return NULL;
+	}
+
+	LOG_DBG("len %zu", remaining);
+	net_buf_add_mem(buf, data, remaining);
+
+	return buf;
+}
+
 static void hci_rpmsg_rx(uint8_t *data, size_t len)
 {
 	uint8_t pkt_indicator;
@@ -226,6 +258,10 @@ static void hci_rpmsg_rx(uint8_t *data, size_t len)
 		buf = hci_rpmsg_acl_recv(data, remaining);
 		break;
 
+	case HCI_RPMSG_ISO:
+		buf = hci_rpmsg_iso_recv(data, remaining);
+		break;
+
 	default:
 		LOG_ERR("Unknown HCI type %u", pkt_indicator);
 		return;
@@ -276,6 +312,9 @@ static int hci_rpmsg_send(struct net_buf *buf)
 	case BT_BUF_EVT:
 		pkt_indicator = HCI_RPMSG_EVT;
 		break;
+	case BT_BUF_ISO_IN:
+		pkt_indicator = HCI_RPMSG_ISO;
+		break;
 	default:
 		LOG_ERR("Unknown type %u", bt_buf_get_type(buf));
 		net_buf_unref(buf);