diff --git a/drivers/pinctrl/CMakeLists.txt b/drivers/pinctrl/CMakeLists.txt
index c91ed202f57..a9119d481ba 100644
--- a/drivers/pinctrl/CMakeLists.txt
+++ b/drivers/pinctrl/CMakeLists.txt
@@ -13,3 +13,4 @@ zephyr_library_sources_ifdef(CONFIG_PINCTRL_STM32 pinctrl_stm32.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_NXP_KINETIS pinctrl_kinetis.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_MCHP_XEC pinctrl_mchp_xec.c)
 zephyr_library_sources_ifdef(CONFIG_PINCTRL_MCUX_RT pinctrl_mcux_rt.c)
+zephyr_library_sources_ifdef(CONFIG_PINCTRL_SIFIVE pinctrl_sifive.c)
diff --git a/drivers/pinctrl/Kconfig b/drivers/pinctrl/Kconfig
index b0572429c45..59a3081272d 100644
--- a/drivers/pinctrl/Kconfig
+++ b/drivers/pinctrl/Kconfig
@@ -38,5 +38,6 @@ source "drivers/pinctrl/Kconfig.stm32"
 source "drivers/pinctrl/Kconfig.kinetis"
 source "drivers/pinctrl/Kconfig.xec"
 source "drivers/pinctrl/Kconfig.mcux"
+source "drivers/pinctrl/Kconfig.sifive"
 
 endif # PINCTRL
diff --git a/drivers/pinctrl/Kconfig.sifive b/drivers/pinctrl/Kconfig.sifive
new file mode 100644
index 00000000000..c8b9bedda3a
--- /dev/null
+++ b/drivers/pinctrl/Kconfig.sifive
@@ -0,0 +1,11 @@
+# Copyright (c) 2022 Antmicro <www.antmicro.com>
+# SPDX-License-Identifier: Apache-2.0
+
+DT_COMPAT_SIFIVE_PINCTRL := sifive,pinctrl
+
+config PINCTRL_SIFIVE
+	bool "SiFive Freedom SoC pinmux driver"
+	depends on SOC_SERIES_RISCV_SIFIVE_FREEDOM
+	default $(dt_compat_enabled,$(DT_COMPAT_SIFIVE_PINCTRL))
+	help
+	  Enable driver for the SiFive Freedom SoC pinctrl driver
diff --git a/drivers/pinctrl/pinctrl_sifive.c b/drivers/pinctrl/pinctrl_sifive.c
new file mode 100644
index 00000000000..29a10559891
--- /dev/null
+++ b/drivers/pinctrl/pinctrl_sifive.c
@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2022 Antmicro <www.antmicro.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT sifive_pinctrl
+
+#include <devicetree.h>
+#include <drivers/pinctrl.h>
+#include <soc.h>
+
+#define PINCTRL_BASE_ADDR	DT_INST_REG_ADDR(0)
+#define PINCTRL_IOF_EN		(PINCTRL_BASE_ADDR + 0x0)
+#define PINCTRL_IOF_SEL		(PINCTRL_BASE_ADDR + 0x4)
+
+static int pinctrl_sifive_set(uint32_t pin, uint32_t func)
+{
+	uint32_t val;
+
+	if (func > SIFIVE_PINMUX_IOF1 || pin >= SIFIVE_PINMUX_PINS) {
+		return -EINVAL;
+	}
+
+	val = sys_read32(PINCTRL_IOF_SEL);
+	if (func == SIFIVE_PINMUX_IOF1) {
+		val |= (SIFIVE_PINMUX_IOF1 << pin);
+	} else {
+		val &= ~(SIFIVE_PINMUX_IOF1 << pin);
+	}
+	sys_write32(val, PINCTRL_IOF_SEL);
+
+	/* Enable IO function for this pin */
+	val = sys_read32(PINCTRL_IOF_EN);
+	val |= BIT(pin);
+	sys_write32(val, PINCTRL_IOF_EN);
+
+	return 0;
+}
+
+
+int pinctrl_configure_pins(const pinctrl_soc_pin_t *pins, uint8_t pin_cnt, uintptr_t reg)
+{
+	ARG_UNUSED(reg);
+	int i;
+
+	for (i = 0; i < pin_cnt; i++) {
+		pinctrl_sifive_set(pins[i].pin, pins[i].iof);
+	}
+
+	return 0;
+}
diff --git a/dts/bindings/pinctrl/sifive,pinctrl.yaml b/dts/bindings/pinctrl/sifive,pinctrl.yaml
new file mode 100644
index 00000000000..41acb79e175
--- /dev/null
+++ b/dts/bindings/pinctrl/sifive,pinctrl.yaml
@@ -0,0 +1,46 @@
+# Copyright (c) 2022 Antmicro <www.antmicro.com>
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+  SiFive FE310 IO Function (iof) binding covers the IOF_EN/IOF_SEL registers
+  that are a subset of the GPIO controller. You can use this node to set the
+  value of IOF_EN/IOF_SEL registers to control pin settings.
+
+  Device pin configuration should be placed in the child nodes of this node.
+  Populate the 'pinmux' field with a pair consisting of a pin number and its IO
+  function. The available IO functions are:
+    - SIFIVE_PINMUX_IOF0
+    - SIFIVE_PINMUX_IOF1
+
+  For example, setting pins 16 and 17 both to IOF0 would look like this:
+
+    #include <dt-bindings/pinctrl/sifive-pinctrl.h>
+
+    &pinctrl {
+      uart0_rx_default: uart0_rx_default {
+        pinmux = <16 SIFIVE_PINMUX_IOF0>;
+      };
+      uart0_tx_default: uart0_tx_default {
+        pinmux = <17 SIFIVE_PINMUX_IOF0>;
+      };
+    };
+
+compatible: "sifive,pinctrl"
+
+include: base.yaml
+
+properties:
+    reg:
+      required: true
+
+child-binding:
+  description: |
+    This binding gives a base representation of the SiFive FE310 pins
+    configuration.
+
+  properties:
+    pinmux:
+      required: true
+      type: array
+      description: |
+        SiFive FE310 pin's configuration (pin, IO function).
diff --git a/soc/riscv/riscv-privilege/sifive-freedom/pinctrl_soc.h b/soc/riscv/riscv-privilege/sifive-freedom/pinctrl_soc.h
new file mode 100644
index 00000000000..ed534237da1
--- /dev/null
+++ b/soc/riscv/riscv-privilege/sifive-freedom/pinctrl_soc.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2022 Antmicro <www.antmicro.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_SOC_RISCV_RISCV_PRIVILEGE_SIFIVE_FREEDOM_PINCTRL_H_
+#define ZEPHYR_SOC_RISCV_RISCV_PRIVILEGE_SIFIVE_FREEDOM_PINCTRL_H_
+
+#include <zephyr/types.h>
+
+typedef struct pinctrl_soc_pin_t {
+	uint8_t pin;
+	uint8_t iof;
+} pinctrl_soc_pin_t;
+
+#define SIFIVE_DT_PIN(node_id)					\
+	{							\
+		.pin = DT_PROP_BY_IDX(node_id, pinmux, 0),	\
+		.iof = DT_PROP_BY_IDX(node_id, pinmux, 1)	\
+	},
+
+#define Z_PINCTRL_STATE_PIN_INIT(node_id, prop, idx)		\
+	SIFIVE_DT_PIN(DT_PROP_BY_IDX(node_id, prop, idx))
+
+#define Z_PINCTRL_STATE_PINS_INIT(node_id, prop)		\
+	{ DT_FOREACH_PROP_ELEM(node_id, prop, Z_PINCTRL_STATE_PIN_INIT) }
+
+#endif /* ZEPHYR_SOC_RISCV_RISCV_PRIVILEGE_SIFIVE_FREEDOM_PINCTRL_H_ */