diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index c8164ec550b..3c137fa0181 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -60,11 +60,6 @@ config CAN_HAS_CANFD
 	help
 	  driver supports CAN-FD
 
-config CAN_HAS_RX_TIMESTAMP
-	bool
-	help
-	  driver supports RX timestamps
-
 config CAN_FD_MODE
 	bool "CAN-FD"
 	default y
@@ -74,11 +69,10 @@ config CAN_FD_MODE
 
 config CAN_RX_TIMESTAMP
 	bool "Receiving timestamps"
-	depends on CAN_HAS_RX_TIMESTAMP
 	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
-	  is initialized.
+	  is initialized. Not all CAN controllers support timestamps.
 
 config CAN_AUTO_BUS_OFF_RECOVERY
 	bool "Automatic recovery from bus-off"
diff --git a/drivers/can/Kconfig.fake b/drivers/can/Kconfig.fake
index 7a76ac2bb81..21453bd98e1 100644
--- a/drivers/can/Kconfig.fake
+++ b/drivers/can/Kconfig.fake
@@ -8,6 +8,5 @@ config CAN_FAKE
 	default y
 	depends on DT_HAS_ZEPHYR_FAKE_CAN_ENABLED
 	select CAN_HAS_CANFD
-	select CAN_HAS_RX_TIMESTAMP
 	help
 	  Enable support for the FFF-based fake CAN driver.
diff --git a/drivers/can/Kconfig.mcan b/drivers/can/Kconfig.mcan
index e5c00f9758b..e5d9518978c 100644
--- a/drivers/can/Kconfig.mcan
+++ b/drivers/can/Kconfig.mcan
@@ -6,7 +6,6 @@
 config CAN_MCAN
 	bool
 	select CAN_HAS_CANFD
-	select CAN_HAS_RX_TIMESTAMP
 	help
 	  Enable Bosch m_can driver.
 	  This driver supports the Bosch m_can IP. This IP is built into the
diff --git a/drivers/can/Kconfig.mcux b/drivers/can/Kconfig.mcux
index 2df43a61a6b..26b46e9433d 100644
--- a/drivers/can/Kconfig.mcux
+++ b/drivers/can/Kconfig.mcux
@@ -8,7 +8,6 @@ config CAN_MCUX_FLEXCAN
 	default y
 	depends on DT_HAS_NXP_KINETIS_FLEXCAN_ENABLED
 	depends on CLOCK_CONTROL
-	select CAN_HAS_RX_TIMESTAMP
 	help
 	  Enable support for mcux flexcan driver.
 
diff --git a/drivers/can/Kconfig.stm32 b/drivers/can/Kconfig.stm32
index afcafa17226..58869639938 100644
--- a/drivers/can/Kconfig.stm32
+++ b/drivers/can/Kconfig.stm32
@@ -7,7 +7,6 @@ config CAN_STM32
 	bool "STM32 CAN Driver"
 	default y
 	depends on DT_HAS_ST_STM32_CAN_ENABLED
-	select CAN_HAS_RX_TIMESTAMP
 	help
 	  Enable STM32 CAN Driver.
 	  Tested on STM32F0, STM32F4, STM32L4 and STM32F7 series.