diff --git a/drivers/sensor/mpu6050/mpu6050.c b/drivers/sensor/mpu6050/mpu6050.c
index c533baf63bc..65adbdd812c 100644
--- a/drivers/sensor/mpu6050/mpu6050.c
+++ b/drivers/sensor/mpu6050/mpu6050.c
@@ -161,7 +161,7 @@ int mpu6050_init(const struct device *dev)
 		return -EIO;
 	}
 
-	if (id != MPU6050_CHIP_ID) {
+	if (id != MPU6050_CHIP_ID && id != MPU9250_CHIP_ID) {
 		LOG_ERR("Invalid chip ID.");
 		return -EINVAL;
 	}
diff --git a/drivers/sensor/mpu6050/mpu6050.h b/drivers/sensor/mpu6050/mpu6050.h
index 59adbf88134..4190438f9c7 100644
--- a/drivers/sensor/mpu6050/mpu6050.h
+++ b/drivers/sensor/mpu6050/mpu6050.h
@@ -14,6 +14,7 @@
 
 #define MPU6050_REG_CHIP_ID		0x75
 #define MPU6050_CHIP_ID			0x68
+#define MPU9250_CHIP_ID			0x71
 
 #define MPU6050_REG_GYRO_CFG		0x1B
 #define MPU6050_GYRO_FS_SHIFT		3