diff --git a/boards/arm/nucleo_h743zi/doc/index.rst b/boards/arm/nucleo_h743zi/doc/index.rst
index fcd9b6608b8..773ceaa6b3f 100644
--- a/boards/arm/nucleo_h743zi/doc/index.rst
+++ b/boards/arm/nucleo_h743zi/doc/index.rst
@@ -125,6 +125,8 @@ features:
 +-------------+------------+-------------------------------------+
 | USB         | on-chip    | usb_device                          |
 +-------------+------------+-------------------------------------+
+| CAN/CANFD   | on-chip    | canbus                              |
++-------------+------------+-------------------------------------+
 
 Other hardware features are not yet supported on this Zephyr port.
 
@@ -148,6 +150,7 @@ and a ST morpho connector. Board is configured as follows:
 - ADC1_INP15 : PA3
 - ETH : PA1, PA2, PA7, PB13, PC1, PC4, PC5, PG11, PG13
 - SPI1 NSS/SCK/MISO/MOSI : PD14/PA5/PA6/PB5 (Arduino SPI)
+- CAN/CANFD : PD0, PD1
 
 System Clock
 ------------
@@ -168,6 +171,11 @@ Backup SRAM
 In order to test backup SRAM you may want to disconnect VBAT from VDD. You can
 do it by removing ``SB156`` jumper on the back side of the board.
 
+CAN, CANFD
+----------
+
+Requires an external CAN or CANFD transceiver.
+
 Programming and Debugging
 *************************
 
diff --git a/boards/arm/nucleo_h743zi/nucleo_h743zi.dts b/boards/arm/nucleo_h743zi/nucleo_h743zi.dts
index 787098b6a56..cf608ec33b3 100644
--- a/boards/arm/nucleo_h743zi/nucleo_h743zi.dts
+++ b/boards/arm/nucleo_h743zi/nucleo_h743zi.dts
@@ -20,6 +20,7 @@
 		zephyr,flash = &flash0;
 		zephyr,dtcm = &dtcm;
 		zephyr,code-partition = &slot0_partition;
+		zephyr,canbus = &can1;
 	};
 
 	leds {
@@ -130,6 +131,14 @@ zephyr_udc0: &usbotg_fs {
 	status = "okay";
 };
 
+&can1 {
+	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
+	pinctrl-names = "default";
+	bus-speed = <125000>;
+	bus-speed-data = <1000000>;
+	status = "okay";
+};
+
 /*
  * WARNING:
  * Possible pin conflicts:
diff --git a/boards/arm/nucleo_h743zi/nucleo_h743zi.yaml b/boards/arm/nucleo_h743zi/nucleo_h743zi.yaml
index 55852378a6c..1715dce4b05 100644
--- a/boards/arm/nucleo_h743zi/nucleo_h743zi.yaml
+++ b/boards/arm/nucleo_h743zi/nucleo_h743zi.yaml
@@ -22,3 +22,5 @@ supported:
   - backup_sram
   - watchdog
   - usb_device
+  - can
+  - canfd
diff --git a/boards/arm/nucleo_h753zi/doc/index.rst b/boards/arm/nucleo_h753zi/doc/index.rst
index ec1b817bd6e..f591ec54f78 100644
--- a/boards/arm/nucleo_h753zi/doc/index.rst
+++ b/boards/arm/nucleo_h753zi/doc/index.rst
@@ -123,6 +123,8 @@ features:
 +-----------+------------+-------------------------------------+
 | USB       | on-chip    | usb_device                          |
 +-----------+------------+-------------------------------------+
+| CAN/CANFD | on-chip    | canbus                              |
++-----------+------------+-------------------------------------+
 
 Other hardware features are not yet supported on this Zephyr port.
 
@@ -146,6 +148,7 @@ and a ST morpho connector. Board is configured as follows:
 - ADC1_INP15 : PA3
 - ETH : PA1, PA2, PA7, PB13, PC1, PC4, PC5, PG11, PG13
 - SPI1 NSS/SCK/MISO/MOSI : PD14PA5/PA6/PB5 (Arduino SPI)
+- CAN/CANFD : PD0, PD1
 
 System Clock
 ------------
@@ -160,6 +163,11 @@ Serial Port
 Nucleo H753ZI board has 4 UARTs and 4 USARTs. The Zephyr console output is
 assigned to UART3. Default settings are 115200 8N1.
 
+CAN, CANFD
+----------
+
+Requires an external CAN or CANFD transceiver.
+
 Programming and Debugging
 *************************
 
diff --git a/boards/arm/nucleo_h753zi/nucleo_h753zi.dts b/boards/arm/nucleo_h753zi/nucleo_h753zi.dts
index 5386773ba77..92f124da0e2 100644
--- a/boards/arm/nucleo_h753zi/nucleo_h753zi.dts
+++ b/boards/arm/nucleo_h753zi/nucleo_h753zi.dts
@@ -20,6 +20,7 @@
 		zephyr,flash = &flash0;
 		zephyr,dtcm = &dtcm;
 		zephyr,code-partition = &slot0_partition;
+		zephyr,canbus = &can1;
 	};
 
 	leds {
@@ -130,6 +131,14 @@ zephyr_udc0: &usbotg_fs {
 	status = "okay";
 };
 
+&can1 {
+	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
+	pinctrl-names = "default";
+	bus-speed = <125000>;
+	bus-speed-data = <1000000>;
+	status = "okay";
+};
+
 /*
  * WARNING:
  * Possible pin conflicts:
diff --git a/boards/arm/nucleo_h753zi/nucleo_h753zi.yaml b/boards/arm/nucleo_h753zi/nucleo_h753zi.yaml
index 398f28177d3..921e056d650 100644
--- a/boards/arm/nucleo_h753zi/nucleo_h753zi.yaml
+++ b/boards/arm/nucleo_h753zi/nucleo_h753zi.yaml
@@ -20,3 +20,5 @@ supported:
   - netif:eth
   - spi
   - usb_device
+  - can
+  - canfd