diff --git a/sys/arm64/arm64/pl031_rtc.c b/sys/arm64/arm64/pl031_rtc.c
new file mode 100644
--- /dev/null
+++ b/sys/arm64/arm64/pl031_rtc.c
@@ -0,0 +1,153 @@
+/*-
+ * SPDX-License-Identifier: BSD-2-Clause
+ *
+ * Copyright (c) 2023 Arm Ltd
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+/*
+ * Driver for the Arm PL031 RTC device
+ */
+
+#include <sys/param.h>
+#include <sys/systm.h>
+#include <sys/bus.h>
+#include <sys/clock.h>
+#include <sys/kernel.h>
+#include <sys/module.h>
+#include <sys/rman.h>
+
+#include <machine/bus.h>
+#include <machine/resource.h>
+
+#include <dev/ofw/openfirm.h>
+#include <dev/ofw/ofw_bus.h>
+#include <dev/ofw/ofw_bus_subr.h>
+
+#include "clock_if.h"
+
+#define	RTCDR	0x00
+#define	RTCMR	0x04
+#define	RTCLR	0x08
+#define	RTCCR	0x0c
+#define	RTCIMSR	0x10
+#define	RTCRIS	0x14
+#define	RTCMIS	0x18
+#define	RTCICR	0x1c
+
+struct pl031_softc {
+	struct resource	*reg;
+	int reg_rid;
+};
+
+static device_probe_t pl031_probe;
+static device_attach_t pl031_attach;
+static device_detach_t pl031_detach;
+
+static clock_gettime_t pl031_gettime;
+static clock_settime_t pl031_settime;
+
+static int
+pl031_probe(device_t dev)
+{
+	if (!ofw_bus_status_okay(dev))
+		return (ENXIO);
+
+	if (!ofw_bus_is_compatible(dev, "arm,pl031"))
+		return (ENXIO);
+
+	device_set_desc(dev, "PL031 RTC");
+	return (BUS_PROBE_DEFAULT);
+}
+
+static int
+pl031_attach(device_t dev)
+{
+	struct pl031_softc *sc;
+
+	sc = device_get_softc(dev);
+
+	sc->reg_rid = 0;
+	sc->reg = bus_alloc_resource_any(dev, SYS_RES_MEMORY, &sc->reg_rid,
+	    RF_ACTIVE);
+	if (sc->reg == 0)
+		return (ENXIO);
+
+	clock_register(dev, 1000000);
+
+	return (0);
+}
+
+static int
+pl031_detach(device_t dev)
+{
+	struct pl031_softc *sc;
+
+	sc = device_get_softc(dev);
+
+	clock_unregister(dev);
+	bus_release_resource(dev, SYS_RES_MEMORY, sc->reg_rid, sc->reg);
+
+	return (0);
+}
+
+static int
+pl031_gettime(device_t dev, struct timespec *ts)
+{
+	struct pl031_softc *sc;
+
+	sc = device_get_softc(dev);
+	ts->tv_sec = bus_read_4(sc->reg, RTCDR);
+	ts->tv_nsec = 0;
+
+	return (0);
+}
+
+static int
+pl031_settime(device_t dev, struct timespec *ts)
+{
+	struct pl031_softc *sc;
+
+	sc = device_get_softc(dev);
+	bus_write_4(sc->reg, RTCLR, ts->tv_sec);
+	return (0);
+}
+
+static device_method_t pl031_methods[] = {
+	/* Device interface */
+	DEVMETHOD(device_probe,		pl031_probe),
+	DEVMETHOD(device_attach,	pl031_attach),
+	DEVMETHOD(device_detach,	pl031_detach),
+
+	/* Clock interface */
+	DEVMETHOD(clock_gettime,	pl031_gettime),
+	DEVMETHOD(clock_settime,	pl031_settime),
+
+	/* End */
+	DEVMETHOD_END
+};
+
+DEFINE_CLASS_0(pl031, pl031_driver, pl031_methods,
+    sizeof(struct pl031_softc));
+
+DRIVER_MODULE(pl031, simplebus, pl031_driver, 0, 0);
diff --git a/sys/arm64/conf/std.arm b/sys/arm64/conf/std.arm
--- a/sys/arm64/conf/std.arm
+++ b/sys/arm64/conf/std.arm
@@ -8,6 +8,9 @@
 # GPIO / PINCTRL
 device		pl061			# Arm PL061 GPIO controller
 
+# RTC
+device		pl031			# Arm PL031 RTC
+
 # Serial (COM) ports
 device		pl011
 
diff --git a/sys/conf/files.arm64 b/sys/conf/files.arm64
--- a/sys/conf/files.arm64
+++ b/sys/conf/files.arm64
@@ -64,6 +64,7 @@
 arm64/arm64/mp_machdep.c			optional smp
 arm64/arm64/nexus.c				standard
 arm64/arm64/ofw_machdep.c			optional fdt
+arm64/arm64/pl031_rtc.c				optional fdt pl031
 arm64/arm64/ptrauth.c				standard \
 	compile-with	"${NORMAL_C:N-mbranch-protection*}"
 arm64/arm64/pmap.c				standard