diff --git a/sys/include/ztimer.h b/sys/include/ztimer.h
index 3ee7356463..30b9428532 100644
--- a/sys/include/ztimer.h
+++ b/sys/include/ztimer.h
@@ -776,6 +776,19 @@ void ztimer_set_wakeup(ztimer_clock_t *clock, ztimer_t *timer, uint32_t offset,
 void ztimer_set_timeout_flag(ztimer_clock_t *clock, ztimer_t *timer,
                              uint32_t timeout);
 
+/**
+ * @brief    Unlock mutex after @p timeout
+ *
+ * This function will unlock the given mutex after the timeout has passed.
+ *
+ * @param[in]   clock           ztimer clock to operate on
+ * @param[in]   timer           timer struct to use
+ * @param[in]   timeout         timeout in ztimer_clock's ticks
+ * @param[in]   mutex           mutex to unlock after timeout
+ */
+void ztimer_mutex_unlock(ztimer_clock_t *clock, ztimer_t *timer,
+                         uint32_t timeout, mutex_t *mutex);
+
 /**
  * @brief   Try to lock the given mutex, but give up after @p timeout
  *
diff --git a/sys/ztimer/util.c b/sys/ztimer/util.c
index c01f8802fa..277f4854be 100644
--- a/sys/ztimer/util.c
+++ b/sys/ztimer/util.c
@@ -144,6 +144,18 @@ void ztimer_set_timeout_flag(ztimer_clock_t *clock, ztimer_t *t,
 }
 #endif
 
+void ztimer_mutex_unlock(ztimer_clock_t *clock, ztimer_t *timer, uint32_t offset,
+                         mutex_t *mutex)
+{
+    unsigned state = irq_disable();
+
+    timer->callback = _callback_unlock_mutex;
+    timer->arg = (void *)mutex;
+
+    irq_restore(state);
+    ztimer_set(clock, timer, offset);
+}
+
 static void _callback_wakeup(void *arg)
 {
     thread_wakeup((kernel_pid_t)((intptr_t)arg));