diff --git a/drivers/pinctrl/freescale/Kconfig b/drivers/pinctrl/freescale/Kconfig
index 27bdc548f3a7..011dbc9b9680 100644
--- a/drivers/pinctrl/freescale/Kconfig
+++ b/drivers/pinctrl/freescale/Kconfig
@@ -184,6 +184,13 @@ config PINCTRL_IMXRT1050
 	help
 	  Say Y here to enable the imxrt1050 pinctrl driver
 
+config PINCTRL_IMX91
+	tristate "IMX91 pinctrl driver"
+	depends on ARCH_MXC
+	select PINCTRL_IMX
+	help
+	  Say Y here to enable the imx91 pinctrl driver
+
 config PINCTRL_IMX93
 	tristate "IMX93 pinctrl driver"
 	depends on ARCH_MXC
diff --git a/drivers/pinctrl/freescale/Makefile b/drivers/pinctrl/freescale/Makefile
index 647dff060477..70747bdf8fc2 100644
--- a/drivers/pinctrl/freescale/Makefile
+++ b/drivers/pinctrl/freescale/Makefile
@@ -25,6 +25,7 @@ obj-$(CONFIG_PINCTRL_IMX8QM)	+= pinctrl-imx8qm.o
 obj-$(CONFIG_PINCTRL_IMX8QXP)	+= pinctrl-imx8qxp.o
 obj-$(CONFIG_PINCTRL_IMX8DXL)	+= pinctrl-imx8dxl.o
 obj-$(CONFIG_PINCTRL_IMX8ULP)	+= pinctrl-imx8ulp.o
+obj-$(CONFIG_PINCTRL_IMX91)	+= pinctrl-imx91.o
 obj-$(CONFIG_PINCTRL_IMX93)	+= pinctrl-imx93.o
 obj-$(CONFIG_PINCTRL_VF610)	+= pinctrl-vf610.o
 obj-$(CONFIG_PINCTRL_MXS)	+= pinctrl-mxs.o
diff --git a/drivers/pinctrl/freescale/pinctrl-imx91.c b/drivers/pinctrl/freescale/pinctrl-imx91.c
new file mode 100644
index 000000000000..5421141c586a
--- /dev/null
+++ b/drivers/pinctrl/freescale/pinctrl-imx91.c
@@ -0,0 +1,271 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright 2024 NXP
+ */
+
+#include <linux/init.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/pinctrl/pinctrl.h>
+#include <linux/platform_device.h>
+
+#include "pinctrl-imx.h"
+
+enum imx91_pads {
+	IMX91_PAD_DAP_TDI = 0,
+	IMX91_PAD_DAP_TMS_SWDIO = 1,
+	IMX91_PAD_DAP_TCLK_SWCLK = 2,
+	IMX91_PAD_DAP_TDO_TRACESWO = 3,
+	IMX91_PAD_GPIO_IO00 = 4,
+	IMX91_PAD_GPIO_IO01 = 5,
+	IMX91_PAD_GPIO_IO02 = 6,
+	IMX91_PAD_GPIO_IO03 = 7,
+	IMX91_PAD_GPIO_IO04 = 8,
+	IMX91_PAD_GPIO_IO05 = 9,
+	IMX91_PAD_GPIO_IO06 = 10,
+	IMX91_PAD_GPIO_IO07 = 11,
+	IMX91_PAD_GPIO_IO08 = 12,
+	IMX91_PAD_GPIO_IO09 = 13,
+	IMX91_PAD_GPIO_IO10 = 14,
+	IMX91_PAD_GPIO_IO11 = 15,
+	IMX91_PAD_GPIO_IO12 = 16,
+	IMX91_PAD_GPIO_IO13 = 17,
+	IMX91_PAD_GPIO_IO14 = 18,
+	IMX91_PAD_GPIO_IO15 = 19,
+	IMX91_PAD_GPIO_IO16 = 20,
+	IMX91_PAD_GPIO_IO17 = 21,
+	IMX91_PAD_GPIO_IO18 = 22,
+	IMX91_PAD_GPIO_IO19 = 23,
+	IMX91_PAD_GPIO_IO20 = 24,
+	IMX91_PAD_GPIO_IO21 = 25,
+	IMX91_PAD_GPIO_IO22 = 26,
+	IMX91_PAD_GPIO_IO23 = 27,
+	IMX91_PAD_GPIO_IO24 = 28,
+	IMX91_PAD_GPIO_IO25 = 29,
+	IMX91_PAD_GPIO_IO26 = 30,
+	IMX91_PAD_GPIO_IO27 = 31,
+	IMX91_PAD_GPIO_IO28 = 32,
+	IMX91_PAD_GPIO_IO29 = 33,
+	IMX91_PAD_CCM_CLKO1 = 34,
+	IMX91_PAD_CCM_CLKO2 = 35,
+	IMX91_PAD_CCM_CLKO3 = 36,
+	IMX91_PAD_CCM_CLKO4 = 37,
+	IMX91_PAD_ENET1_MDC = 38,
+	IMX91_PAD_ENET1_MDIO = 39,
+	IMX91_PAD_ENET1_TD3 = 40,
+	IMX91_PAD_ENET1_TD2 = 41,
+	IMX91_PAD_ENET1_TD1 = 42,
+	IMX91_PAD_ENET1_TD0 = 43,
+	IMX91_PAD_ENET1_TX_CTL = 44,
+	IMX91_PAD_ENET1_TXC = 45,
+	IMX91_PAD_ENET1_RX_CTL = 46,
+	IMX91_PAD_ENET1_RXC = 47,
+	IMX91_PAD_ENET1_RD0 = 48,
+	IMX91_PAD_ENET1_RD1 = 49,
+	IMX91_PAD_ENET1_RD2 = 50,
+	IMX91_PAD_ENET1_RD3 = 51,
+	IMX91_PAD_ENET2_MDC = 52,
+	IMX91_PAD_ENET2_MDIO = 53,
+	IMX91_PAD_ENET2_TD3 = 54,
+	IMX91_PAD_ENET2_TD2 = 55,
+	IMX91_PAD_ENET2_TD1 = 56,
+	IMX91_PAD_ENET2_TD0 = 57,
+	IMX91_PAD_ENET2_TX_CTL = 58,
+	IMX91_PAD_ENET2_TXC = 59,
+	IMX91_PAD_ENET2_RX_CTL = 60,
+	IMX91_PAD_ENET2_RXC = 61,
+	IMX91_PAD_ENET2_RD0 = 62,
+	IMX91_PAD_ENET2_RD1 = 63,
+	IMX91_PAD_ENET2_RD2 = 64,
+	IMX91_PAD_ENET2_RD3 = 65,
+	IMX91_PAD_SD1_CLK = 66,
+	IMX91_PAD_SD1_CMD = 67,
+	IMX91_PAD_SD1_DATA0 = 68,
+	IMX91_PAD_SD1_DATA1 = 69,
+	IMX91_PAD_SD1_DATA2 = 70,
+	IMX91_PAD_SD1_DATA3 = 71,
+	IMX91_PAD_SD1_DATA4 = 72,
+	IMX91_PAD_SD1_DATA5 = 73,
+	IMX91_PAD_SD1_DATA6 = 74,
+	IMX91_PAD_SD1_DATA7 = 75,
+	IMX91_PAD_SD1_STROBE = 76,
+	IMX91_PAD_SD2_VSELECT = 77,
+	IMX91_PAD_SD3_CLK = 78,
+	IMX91_PAD_SD3_CMD = 79,
+	IMX91_PAD_SD3_DATA0 = 80,
+	IMX91_PAD_SD3_DATA1 = 81,
+	IMX91_PAD_SD3_DATA2 = 82,
+	IMX91_PAD_SD3_DATA3 = 83,
+	IMX91_PAD_SD2_CD_B = 84,
+	IMX91_PAD_SD2_CLK = 85,
+	IMX91_PAD_SD2_CMD = 86,
+	IMX91_PAD_SD2_DATA0 = 87,
+	IMX91_PAD_SD2_DATA1 = 88,
+	IMX91_PAD_SD2_DATA2 = 89,
+	IMX91_PAD_SD2_DATA3 = 90,
+	IMX91_PAD_SD2_RESET_B = 91,
+	IMX91_PAD_I2C1_SCL = 92,
+	IMX91_PAD_I2C1_SDA = 93,
+	IMX91_PAD_I2C2_SCL = 94,
+	IMX91_PAD_I2C2_SDA = 95,
+	IMX91_PAD_UART1_RXD = 96,
+	IMX91_PAD_UART1_TXD = 97,
+	IMX91_PAD_UART2_RXD = 98,
+	IMX91_PAD_UART2_TXD = 99,
+	IMX91_PAD_PDM_CLK = 100,
+	IMX91_PAD_PDM_BIT_STREAM0 = 101,
+	IMX91_PAD_PDM_BIT_STREAM1 = 102,
+	IMX91_PAD_SAI1_TXFS = 103,
+	IMX91_PAD_SAI1_TXC = 104,
+	IMX91_PAD_SAI1_TXD0 = 105,
+	IMX91_PAD_SAI1_RXD0 = 106,
+	IMX91_PAD_WDOG_ANY = 107,
+};
+
+/* Pad names for the pinmux subsystem */
+static const struct pinctrl_pin_desc imx91_pinctrl_pads[] = {
+	IMX_PINCTRL_PIN(IMX91_PAD_DAP_TDI),
+	IMX_PINCTRL_PIN(IMX91_PAD_DAP_TMS_SWDIO),
+	IMX_PINCTRL_PIN(IMX91_PAD_DAP_TCLK_SWCLK),
+	IMX_PINCTRL_PIN(IMX91_PAD_DAP_TDO_TRACESWO),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO00),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO01),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO02),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO03),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO04),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO05),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO06),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO07),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO08),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO09),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO10),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO11),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO12),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO13),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO14),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO15),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO16),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO17),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO18),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO19),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO20),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO21),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO22),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO23),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO24),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO25),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO26),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO27),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO28),
+	IMX_PINCTRL_PIN(IMX91_PAD_GPIO_IO29),
+	IMX_PINCTRL_PIN(IMX91_PAD_CCM_CLKO1),
+	IMX_PINCTRL_PIN(IMX91_PAD_CCM_CLKO2),
+	IMX_PINCTRL_PIN(IMX91_PAD_CCM_CLKO3),
+	IMX_PINCTRL_PIN(IMX91_PAD_CCM_CLKO4),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_MDC),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_MDIO),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_TD3),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_TD2),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_TD1),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_TD0),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_TX_CTL),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_TXC),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_RX_CTL),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_RXC),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_RD0),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_RD1),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_RD2),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET1_RD3),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_MDC),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_MDIO),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_TD3),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_TD2),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_TD1),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_TD0),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_TX_CTL),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_TXC),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_RX_CTL),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_RXC),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_RD0),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_RD1),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_RD2),
+	IMX_PINCTRL_PIN(IMX91_PAD_ENET2_RD3),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_CLK),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_CMD),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA0),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA1),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA2),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA3),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA4),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA5),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA6),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_DATA7),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD1_STROBE),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_VSELECT),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD3_CLK),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD3_CMD),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD3_DATA0),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD3_DATA1),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD3_DATA2),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD3_DATA3),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_CD_B),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_CLK),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_CMD),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_DATA0),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_DATA1),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_DATA2),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_DATA3),
+	IMX_PINCTRL_PIN(IMX91_PAD_SD2_RESET_B),
+	IMX_PINCTRL_PIN(IMX91_PAD_I2C1_SCL),
+	IMX_PINCTRL_PIN(IMX91_PAD_I2C1_SDA),
+	IMX_PINCTRL_PIN(IMX91_PAD_I2C2_SCL),
+	IMX_PINCTRL_PIN(IMX91_PAD_I2C2_SDA),
+	IMX_PINCTRL_PIN(IMX91_PAD_UART1_RXD),
+	IMX_PINCTRL_PIN(IMX91_PAD_UART1_TXD),
+	IMX_PINCTRL_PIN(IMX91_PAD_UART2_RXD),
+	IMX_PINCTRL_PIN(IMX91_PAD_UART2_TXD),
+	IMX_PINCTRL_PIN(IMX91_PAD_PDM_CLK),
+	IMX_PINCTRL_PIN(IMX91_PAD_PDM_BIT_STREAM0),
+	IMX_PINCTRL_PIN(IMX91_PAD_PDM_BIT_STREAM1),
+	IMX_PINCTRL_PIN(IMX91_PAD_SAI1_TXFS),
+	IMX_PINCTRL_PIN(IMX91_PAD_SAI1_TXC),
+	IMX_PINCTRL_PIN(IMX91_PAD_SAI1_TXD0),
+	IMX_PINCTRL_PIN(IMX91_PAD_SAI1_RXD0),
+	IMX_PINCTRL_PIN(IMX91_PAD_WDOG_ANY),
+};
+
+static const struct imx_pinctrl_soc_info imx91_pinctrl_info = {
+	.pins = imx91_pinctrl_pads,
+	.npins = ARRAY_SIZE(imx91_pinctrl_pads),
+	.flags = ZERO_OFFSET_VALID,
+};
+
+static int imx91_pinctrl_probe(struct platform_device *pdev)
+{
+	return imx_pinctrl_probe(pdev, &imx91_pinctrl_info);
+}
+
+static const struct of_device_id imx91_pinctrl_of_match[] = {
+	{ .compatible = "fsl,imx91-iomuxc", },
+	{ /* sentinel */ }
+};
+MODULE_DEVICE_TABLE(of, imx91_pinctrl_of_match);
+
+static struct platform_driver imx91_pinctrl_driver = {
+	.driver = {
+		.name = "imx91-pinctrl",
+		.of_match_table = imx91_pinctrl_of_match,
+		.suppress_bind_attrs = true,
+	},
+	.probe = imx91_pinctrl_probe,
+};
+
+static int __init imx91_pinctrl_init(void)
+{
+	return platform_driver_register(&imx91_pinctrl_driver);
+}
+arch_initcall(imx91_pinctrl_init);
+
+MODULE_AUTHOR("Peng Fan <peng.fan@nxp.com>");
+MODULE_DESCRIPTION("NXP i.MX91 pinctrl driver");
+MODULE_LICENSE("GPL");