diff --git a/include/zephyr/sys/util.h b/include/zephyr/sys/util.h
index d8a63a25e9d..f352e7b7a80 100644
--- a/include/zephyr/sys/util.h
+++ b/include/zephyr/sys/util.h
@@ -259,6 +259,25 @@ extern "C" {
  */
 #define DIV_ROUND_UP(n, d) (((n) + (d) - 1) / (d))
 
+/**
+ * @brief Divide and round to the nearest integer.
+ *
+ * Example:
+ * @code{.c}
+ * DIV_ROUND_CLOSEST(5, 2); // 3
+ * DIV_ROUND_CLOSEST(5, -2); // -3
+ * DIV_ROUND_CLOSEST(5, 3); // 2
+ * @endcode
+ *
+ * @param n Numerator.
+ * @param d Denominator.
+ *
+ * @return The result of @p n / @p d, rounded to the nearest integer.
+ */
+#define DIV_ROUND_CLOSEST(n, d)	\
+	((((n) < 0) ^ ((d) < 0)) ? ((n) - ((d) / 2)) / (d) : \
+	((n) + ((d) / 2)) / (d))
+
 /**
  * @brief Ceiling function applied to @p numerator / @p divider as a fraction.
  * @deprecated Use DIV_ROUND_UP() instead.
diff --git a/tests/unit/util/main.c b/tests/unit/util/main.c
index 18a33802eb5..bce626f9fe4 100644
--- a/tests/unit/util/main.c
+++ b/tests/unit/util/main.c
@@ -151,6 +151,11 @@ ZTEST(util_cxx, test_DIV_ROUND_UP)
 	run_DIV_ROUND_UP();
 }
 
+ZTEST(util_cxx, test_DIV_ROUND_CLOSEST)
+{
+	run_DIV_ROUND_CLOSEST();
+}
+
 ZTEST_SUITE(util_cxx, NULL, NULL, NULL, NULL, NULL);
 
 #if __cplusplus
@@ -294,4 +299,9 @@ ZTEST(util_cc, test_DIV_ROUND_UP)
 	run_DIV_ROUND_UP();
 }
 
+ZTEST(util_cc, test_DIV_ROUND_CLOSEST)
+{
+	run_DIV_ROUND_CLOSEST();
+}
+
 ZTEST_SUITE(util_cc, NULL, NULL, NULL, NULL, NULL);
diff --git a/tests/unit/util/test.inc b/tests/unit/util/test.inc
index aef613b9591..c47cc7ab7e2 100644
--- a/tests/unit/util/test.inc
+++ b/tests/unit/util/test.inc
@@ -615,3 +615,16 @@ void run_DIV_ROUND_UP(void)
 	zassert_equal(DIV_ROUND_UP(1, 2), 1);
 	zassert_equal(DIV_ROUND_UP(3, 2), 2);
 }
+
+void run_DIV_ROUND_CLOSEST(void)
+{
+	zassert_equal(DIV_ROUND_CLOSEST(0, 1), 0);
+	/* 5 / 2 = 2.5 -> 3 */
+	zassert_equal(DIV_ROUND_CLOSEST(5, 2), 3);
+	zassert_equal(DIV_ROUND_CLOSEST(5, -2), -3);
+	zassert_equal(DIV_ROUND_CLOSEST(-5, 2), -3);
+	zassert_equal(DIV_ROUND_CLOSEST(-5, -2), 3);
+	/* 7 / 3 = 2.(3) -> 2 */
+	zassert_equal(DIV_ROUND_CLOSEST(7, 3), 2);
+	zassert_equal(DIV_ROUND_CLOSEST(-7, 3), -2);
+}