diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index b2e9758fec8..978df357070 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -44,7 +44,7 @@ config CAN_WORKQ_FRAMES_BUF_CNT
 
 config CAN_RX_TIMESTAMP
 	bool "Enable receiving timestamps"
-	depends on CAN_STM32
+	depends on CAN_STM32 || CAN_MCUX_FLEXCAN
 	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
diff --git a/drivers/can/can_mcux_flexcan.c b/drivers/can/can_mcux_flexcan.c
index 1f2d006a55a..99706f407de 100644
--- a/drivers/can/can_mcux_flexcan.c
+++ b/drivers/can/can_mcux_flexcan.c
@@ -167,6 +167,9 @@ static void mcux_flexcan_copy_frame_to_zframe(const flexcan_frame_t *src,
 	dest->dlc = src->length;
 	dest->data_32[0] = sys_be32_to_cpu(src->dataWord0);
 	dest->data_32[1] = sys_be32_to_cpu(src->dataWord1);
+#ifdef CONFIG_CAN_RX_TIMESTAMP
+	dest->timestamp = src->timestamp;
+#endif /* CAN_RX_TIMESTAMP */
 }
 
 static void mcux_flexcan_copy_zfilter_to_mbconfig(const struct zcan_filter *src,