diff --git a/drivers/i2c/i2c_ll_stm32_v2.c b/drivers/i2c/i2c_ll_stm32_v2.c
index 8e97fffbf09b8b2..0dbd6ed1873d83a 100644
--- a/drivers/i2c/i2c_ll_stm32_v2.c
+++ b/drivers/i2c/i2c_ll_stm32_v2.c
@@ -117,6 +117,42 @@ static struct stm32_i2c_timings_t i2c_valid_timing[STM32_I2C_VALID_TIMING_NBR];
 static uint32_t i2c_valid_timing_nbr;
 #endif /* CONFIG_I2C_STM32_V2_TIMING */
 
+#ifdef CONFIG_I2C_DMA
+static int configure_dma(const struct device *dma_dev, uint32_t dma_channel,
+			 struct dma_config *dma_cfg, struct dma_block_config *blk_cfg,
+			 uint32_t source_address, uint32_t dest_address, struct i2c_msg *msg,
+			 struct k_sem *dma_sem, const char *direction)
+{
+	if (!device_is_ready(dma_dev)) {
+		LOG_ERR("DMA device not ready for %s", direction);
+		return -ENODEV;
+	}
+
+	k_sem_take(dma_sem, K_FOREVER);
+
+	blk_cfg->source_address = source_address;
+	blk_cfg->dest_address = dest_address;
+	blk_cfg->block_size = msg->len;
+
+	dma_cfg->head_block = blk_cfg;
+	dma_cfg->block_count = 1;
+
+	int ret = dma_config(dma_dev, dma_channel, dma_cfg);
+	if (ret != 0) {
+		LOG_ERR("Problem setting up %s DMA: %d", direction, ret);
+		return ret;
+	}
+
+	ret = dma_start(dma_dev, dma_channel);
+	if (ret != 0) {
+		LOG_ERR("Problem starting %s DMA: %d", direction, ret);
+		return ret;
+	}
+
+	return 0;
+}
+#endif
+
 static inline void msg_init(const struct device *dev, struct i2c_msg *msg,
 			    uint8_t *next_msg_flags, uint16_t slave,
 			    uint32_t transfer)
@@ -151,6 +187,48 @@ static inline void msg_init(const struct device *dev, struct i2c_msg *msg,
 #if defined(CONFIG_I2C_TARGET)
 		data->master_active = true;
 #endif
+
+#ifdef CONFIG_I2C_DMA
+		if (msg->len) {
+			if (msg->flags & I2C_MSG_READ) {
+				// Configure RX DMA
+				if (configure_dma(cfg->dev_dma_rx, cfg->dma_rx_channel,
+						  &data->dma_rx_cfg, &data->dma_rx_blk_cfg,
+						  LL_I2C_DMA_GetRegAddr(
+							  cfg->i2c, LL_I2C_DMA_REG_DATA_RECEIVE),
+						  (uint32_t)msg->buf, msg, &data->dma_rx_sem,
+						  "RX") != 0) {
+					return;
+				}
+				data->current.buf += msg->len;
+				data->current.len -= msg->len;
+				LL_I2C_EnableDMAReq_RX(i2c);
+			} else {
+				// Preload the TX register for the first byte
+
+				LL_I2C_TransmitData8(i2c, *data->current.buf);
+				data->current.buf++;
+				data->current.len--;
+
+				if (msg->len) {
+					// Configure TX DMA
+					if (configure_dma(
+						    cfg->dev_dma_tx, cfg->dma_tx_channel,
+						    &data->dma_tx_cfg, &data->dma_tx_blk_cfg,
+						    (uint32_t)msg->buf,
+						    LL_I2C_DMA_GetRegAddr(
+							    cfg->i2c, LL_I2C_DMA_REG_DATA_TRANSMIT),
+						    msg, &data->dma_tx_sem, "TX") != 0) {
+						return;
+					}
+					data->current.buf += msg->len;
+					data->current.len -= msg->len;
+					LL_I2C_EnableDMAReq_TX(i2c);
+				}
+			}
+		}
+#endif
+
 		LL_I2C_Enable(i2c);
 
 		LL_I2C_GenerateStartCondition(i2c);
@@ -209,6 +287,19 @@ static void stm32_i2c_master_mode_end(const struct device *dev)
 		LL_I2C_Disable(i2c);
 	}
 #endif
+
+#ifdef CONFIG_I2C_DMA
+	if (data->current.msg->flags & I2C_MSG_READ) {
+		dma_stop(cfg->dev_dma_rx, cfg->dma_rx_channel);
+		k_sem_give(&data->dma_rx_sem);
+		LL_I2C_DisableDMAReq_RX(i2c);
+	} else {
+		dma_stop(cfg->dev_dma_tx, cfg->dma_tx_channel);
+		k_sem_give(&data->dma_tx_sem);
+		LL_I2C_DisableDMAReq_TX(i2c);
+	}
+#endif
+
 	k_sem_give(&data->device_sync_sem);
 }
 
@@ -508,6 +599,19 @@ static void stm32_i2c_event(const struct device *dev)
 			LL_I2C_GenerateStopCondition(i2c);
 		} else {
 			stm32_i2c_disable_transfer_interrupts(dev);
+
+#ifdef CONFIG_I2C_DMA
+			if (data->current.msg->flags & I2C_MSG_READ) {
+				dma_stop(cfg->dev_dma_rx, cfg->dma_rx_channel);
+				k_sem_give(&data->dma_rx_sem);
+				LL_I2C_DisableDMAReq_RX(i2c);
+			} else {
+				dma_stop(cfg->dev_dma_tx, cfg->dma_tx_channel);
+				k_sem_give(&data->dma_tx_sem);
+				LL_I2C_DisableDMAReq_TX(i2c);
+			}
+#endif
+
 			k_sem_give(&data->device_sync_sem);
 		}
 	}