diff --git a/doc/hardware/peripherals/can/shell.rst b/doc/hardware/peripherals/can/shell.rst
index d10759ac302..ed36379c55f 100644
--- a/doc/hardware/peripherals/can/shell.rst
+++ b/doc/hardware/peripherals/can/shell.rst
@@ -186,16 +186,20 @@ Received CAN frames matching the added filter(s) are printed to the shell. A few
 
 .. code-block:: console
 
-   # Flags  ID   Size  Data bytes
-   --       010   [8]  01 02 03 04 05 06 07 08
-   B-       010  [08]  01 02 03 04 05 06 07 08
-   BP       010  [03]  01 aa bb
-   --  00000010   [0]
-   --       010   [1]  20
-   --       010   [8]  remote transmission request
+   # Dev Flags    ID   Size  Data bytes
+   can0  --       010   [8]  01 02 03 04 05 06 07 08
+   can0  B-       010  [08]  01 02 03 04 05 06 07 08
+   can0  BP       010  [03]  01 aa bb
+   can0  --  00000010   [0]
+   can0  --       010   [1]  20
+   can0  --       010   [8]  remote transmission request
 
 The columns have the following meaning:
 
+* Dev
+
+  * Name of the device receiving the frame.
+
 * Flags
 
   * ``B``: The frame has the CAN FD Baud Rate Switch (BRS) flag set.
diff --git a/drivers/can/can_shell.c b/drivers/can/can_shell.c
index d7c9fd4076d..aaed76b9fa5 100644
--- a/drivers/can/can_shell.c
+++ b/drivers/can/can_shell.c
@@ -20,6 +20,11 @@ struct can_shell_tx_event {
 	int error;
 };
 
+struct can_shell_rx_event {
+	struct can_frame frame;
+	const struct device *dev;
+};
+
 struct can_shell_mode_mapping {
 	const char *name;
 	can_mode_t mode;
@@ -49,7 +54,8 @@ static struct k_poll_event can_shell_tx_msgq_events[] = {
 					&can_shell_tx_msgq, 0)
 };
 
-CAN_MSGQ_DEFINE(can_shell_rx_msgq, CONFIG_CAN_SHELL_RX_QUEUE_SIZE);
+K_MSGQ_DEFINE(can_shell_rx_msgq, sizeof(struct can_shell_rx_event),
+	      CONFIG_CAN_SHELL_RX_QUEUE_SIZE, 4);
 const struct shell *can_shell_rx_msgq_sh;
 static struct k_work_poll can_shell_rx_msgq_work;
 static struct k_poll_event can_shell_rx_msgq_events[] = {
@@ -62,7 +68,8 @@ static struct k_poll_event can_shell_rx_msgq_events[] = {
 static void can_shell_tx_msgq_triggered_work_handler(struct k_work *work);
 static void can_shell_rx_msgq_triggered_work_handler(struct k_work *work);
 
-static void can_shell_print_frame(const struct shell *sh, const struct can_frame *frame)
+static void can_shell_print_frame(const struct shell *sh, const struct device *dev,
+				  const struct can_frame *frame)
 {
 	uint8_t nbytes = can_dlc_to_bytes(frame->dlc);
 	int i;
@@ -72,6 +79,8 @@ static void can_shell_print_frame(const struct shell *sh, const struct can_frame
 	shell_fprintf(sh, SHELL_NORMAL, "(%05d)  ", frame->timestamp);
 #endif /* CONFIG_CAN_RX_TIMESTAMP */
 
+	shell_fprintf(sh, SHELL_NORMAL, "%s  ", dev->name);
+
 #ifdef CONFIG_CAN_FD_MODE
 	/* Flags */
 	shell_fprintf(sh, SHELL_NORMAL, "%c%c  ",
@@ -156,6 +165,23 @@ static void can_shell_tx_callback(const struct device *dev, int error, void *use
 	}
 }
 
+static void can_shell_rx_callback(const struct device *dev, struct can_frame *frame,
+				  void *user_data)
+{
+	struct can_shell_rx_event event;
+	int err;
+
+	ARG_UNUSED(user_data);
+
+	event.frame = *frame;
+	event.dev = dev;
+
+	err = k_msgq_put(&can_shell_rx_msgq, &event, K_NO_WAIT);
+	if (err != 0) {
+		LOG_ERR("CAN shell rx event queue full");
+	}
+}
+
 static int can_shell_rx_msgq_poll_submit(const struct shell *sh)
 {
 	int err;
@@ -177,10 +203,10 @@ static int can_shell_rx_msgq_poll_submit(const struct shell *sh)
 
 static void can_shell_rx_msgq_triggered_work_handler(struct k_work *work)
 {
-	struct can_frame frame;
+	struct can_shell_rx_event event;
 
-	while (k_msgq_get(&can_shell_rx_msgq, &frame, K_NO_WAIT) == 0) {
-		can_shell_print_frame(can_shell_rx_msgq_sh, &frame);
+	while (k_msgq_get(&can_shell_rx_msgq, &event, K_NO_WAIT) == 0) {
+		can_shell_print_frame(can_shell_rx_msgq_sh, event.dev, &event.frame);
 	}
 
 	(void)can_shell_rx_msgq_poll_submit(can_shell_rx_msgq_sh);
@@ -879,7 +905,7 @@ static int cmd_can_filter_add(const struct shell *sh, size_t argc, char **argv)
 		    (filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3, filter.id,
 		    (filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3, filter.mask);
 
-	err = can_add_rx_filter_msgq(dev, &can_shell_rx_msgq, &filter);
+	err = can_add_rx_filter(dev, can_shell_rx_callback, NULL, &filter);
 	if (err < 0) {
 		shell_error(sh, "failed to add filter (err %d)", err);
 		return err;