diff --git a/include/sys/sem.h b/include/sys/sem.h
index 94e0b15f46d..c34354c3e23 100644
--- a/include/sys/sem.h
+++ b/include/sys/sem.h
@@ -39,6 +39,41 @@ struct sys_sem {
 #endif
 };
 
+/**
+ * @brief Statically define and initialize a sys_sem
+ *
+ * The semaphore can be accessed outside the module where it is defined using:
+ *
+ * @code extern struct sys_sem <name>; @endcode
+ *
+ * Route this to memory domains using K_APP_DMEM().
+ *
+ * @param _name Name of the semaphore.
+ * @param _initial_count Initial semaphore count.
+ * @param _count_limit Maximum permitted semaphore count.
+ */
+#ifdef CONFIG_USERSPACE
+#define SYS_SEM_DEFINE(_name, _initial_count, _count_limit) \
+	struct sys_sem _name = { \
+		.futex = { _initial_count }, \
+		.limit = _count_limit \
+	}; \
+	BUILD_ASSERT(((_count_limit) != 0) && \
+		     ((_initial_count) <= (_count_limit)))
+#else
+/* Stuff this in the section with the rest of the k_sem objects, since they
+ * are identical and can be treated as a k_sem in the boot initialization code
+ */
+#define SYS_SEM_DEFINE(_name, _initial_count, _count_limit) \
+	Z_DECL_ALIGN(struct sys_sem) _name \
+		__in_section(_k_sem, static, _name) = { \
+		.kernel_sem = Z_SEM_INITIALIZER(_name.kernel_sem, \
+						_initial_count, _count_limit) \
+	}; \
+	BUILD_ASSERT(((_count_limit) != 0) && \
+		     ((_initial_count) <= (_count_limit)))
+#endif
+
 /**
  * @brief Initialize a semaphore.
  *
diff --git a/tests/kernel/mem_protect/sys_sem/src/main.c b/tests/kernel/mem_protect/sys_sem/src/main.c
index 5ee1e95d973..df5585b765b 100644
--- a/tests/kernel/mem_protect/sys_sem/src/main.c
+++ b/tests/kernel/mem_protect/sys_sem/src/main.c
@@ -21,7 +21,7 @@ ZTEST_BMEM struct sys_sem simple_sem;
 ZTEST_BMEM struct sys_sem low_prio_sem;
 ZTEST_BMEM struct sys_sem mid_prio_sem;
 ZTEST_DMEM struct sys_sem high_prio_sem;
-ZTEST_DMEM struct sys_sem multiple_thread_sem;
+ZTEST_DMEM SYS_SEM_DEFINE(multiple_thread_sem, SEM_INIT_VAL, SEM_MAX_VAL);
 
 K_THREAD_STACK_DEFINE(stack_1, STACK_SIZE);
 K_THREAD_STACK_DEFINE(stack_2, STACK_SIZE);
@@ -344,7 +344,6 @@ void test_sem_take_multiple(void)
 	sys_sem_init(&high_prio_sem, SEM_INIT_VAL, SEM_MAX_VAL);
 	sys_sem_init(&mid_prio_sem, SEM_INIT_VAL, SEM_MAX_VAL);
 	sys_sem_init(&low_prio_sem, SEM_INIT_VAL, SEM_MAX_VAL);
-	sys_sem_init(&multiple_thread_sem, SEM_INIT_VAL, SEM_MAX_VAL);
 
 	k_thread_create(&sem_tid, stack_1, STACK_SIZE,
 			sem_take_multiple_low_prio_helper,
@@ -512,7 +511,6 @@ void test_sem_multiple_threads_wait(void)
 #endif
 
 	sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL);
-	sys_sem_init(&multiple_thread_sem, SEM_INIT_VAL, SEM_MAX_VAL);
 
 	do {
 		for (int i = 0; i < TOTAL_THREADS_WAITING; i++) {