diff --git a/boards/rpi-pico/Kconfig b/boards/rpi-pico/Kconfig
index d1a6ca0479..dd6e0d4141 100644
--- a/boards/rpi-pico/Kconfig
+++ b/boards/rpi-pico/Kconfig
@@ -12,6 +12,7 @@ config BOARD_RPI_PICO
     bool
     default y
     select CPU_MODEL_RP2040
+    select HAS_PERIPH_ADC
     select HAS_PERIPH_UART
 
     select HAVE_SAUL_GPIO
diff --git a/boards/rpi-pico/Makefile.features b/boards/rpi-pico/Makefile.features
index ddca0fd849..57455378e5 100644
--- a/boards/rpi-pico/Makefile.features
+++ b/boards/rpi-pico/Makefile.features
@@ -1,5 +1,6 @@
 CPU := rpx0xx
 
 # Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_adc
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart
diff --git a/boards/rpi-pico/include/periph_conf.h b/boards/rpi-pico/include/periph_conf.h
index 6e2741260d..d8f99513cc 100644
--- a/boards/rpi-pico/include/periph_conf.h
+++ b/boards/rpi-pico/include/periph_conf.h
@@ -78,6 +78,21 @@ static const timer_conf_t timer_config[] = {
 
 #define TIMER_NUMOF     ARRAY_SIZE(timer_config)
 
+/**
+ * @name   ADC configuration
+ *
+ * The configuration consists simply of a list of channels that should be used
+ * @{
+ */
+static const adc_conf_t adc_config[] = {
+                                        { .pin = GPIO_PIN(0, 26), .chan = 0},
+                                        { .pin = GPIO_PIN(0, 27), .chan = 1},
+                                        { .pin = GPIO_PIN(0, 28), .chan = 2},
+                                        };
+
+#define ADC_NUMOF           ARRAY_SIZE(adc_config)
+/** @} */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/cpu/rpx0xx/clock.c b/cpu/rpx0xx/clock.c
index 424632b263..3af4252951 100644
--- a/cpu/rpx0xx/clock.c
+++ b/cpu/rpx0xx/clock.c
@@ -177,3 +177,17 @@ void clock_gpout3_configure(uint32_t f_in, uint32_t f_out, CLOCKS_CLK_GPOUT3_CTR
     io_reg_atomic_set(&PADS_BANK0->GPIO25, 1U << PADS_BANK0_GPIO25_IE_Pos);
     gpio_set_function_select(25, FUNCTION_SELECT_CLOCK);
 }
+
+void clock_adc_configure(CLOCKS_CLK_ADC_CTRL_AUXSRC_Enum aux)
+{
+    /* Stop the clock generator */
+    io_reg_atomic_clear(&CLOCKS->CLK_ADC_CTRL,
+                        (1u << CLOCKS_CLK_ADC_CTRL_ENABLE_Pos));
+    /* Selects the new auxiliary clock source */
+    io_reg_write_dont_corrupt(&CLOCKS->CLK_ADC_CTRL,
+                              aux << CLOCKS_CLK_ADC_CTRL_AUXSRC_Pos,
+                              CLOCKS_CLK_ADC_CTRL_AUXSRC_Msk);
+    /* Restart the clock generator */
+    io_reg_atomic_set(&CLOCKS->CLK_ADC_CTRL,
+                      (1u << CLOCKS_CLK_ADC_CTRL_ENABLE_Pos));
+}
diff --git a/cpu/rpx0xx/cpu.c b/cpu/rpx0xx/cpu.c
index 61fd73f773..6fa88532d5 100644
--- a/cpu/rpx0xx/cpu.c
+++ b/cpu/rpx0xx/cpu.c
@@ -41,6 +41,7 @@ static void _cpu_reset(void)
         |   RESETS_RESET_pll_usb_Msk
         |   RESETS_RESET_pll_sys_Msk
         |   RESETS_RESET_pads_qspi_Msk
+        |   RESETS_RESET_pads_bank0_Msk
         |   RESETS_RESET_io_qspi_Msk);
     periph_reset(rst);
     /* Assert that reset has completed except for those components which
@@ -78,6 +79,13 @@ static void _cpu_reset(void)
         clock_gpout0_configure(CLOCK_XOSC, CLOCK_XOSC,
                                CLOCKS_CLK_GPOUT0_CTRL_AUXSRC_clk_ref);
     }
+
+    /* Configure USB PLL to deliver 48MHz needed by ADC */
+    if (IS_USED(MODULE_PERIPH_ADC)) {
+        pll_start_usb(PLL_USB_REF_DIV, PLL_USB_VCO_FEEDBACK_SCALE,
+                      PLL_USB_POSTDIV1, PLL_USB_POSTDIV2);
+        clock_adc_configure(CLOCKS_CLK_ADC_CTRL_AUXSRC_clksrc_pll_usb);
+    }
 }
 
 void cpu_init(void)
diff --git a/cpu/rpx0xx/include/periph_cpu.h b/cpu/rpx0xx/include/periph_cpu.h
index bd6d40ff18..a7236d0c3e 100644
--- a/cpu/rpx0xx/include/periph_cpu.h
+++ b/cpu/rpx0xx/include/periph_cpu.h
@@ -390,6 +390,14 @@ typedef struct {
 } gpio_io_ctrl_t;
 /** @} */
 
+/**
+ * @brief   ADC channel configuration data
+ */
+typedef struct {
+    gpio_t pin;             /**< Pin connected to the channel */
+    uint8_t chan;           /**< CPU ADC channel connected to the pin */
+} adc_conf_t;
+
 /**
  * @brief   Configuration details for an UART interface needed by the RPX0XX peripheral
  */
@@ -613,6 +621,13 @@ void clock_gpout2_configure(uint32_t f_in, uint32_t f_out, CLOCKS_CLK_GPOUT2_CTR
  */
 void clock_gpout3_configure(uint32_t f_in, uint32_t f_out, CLOCKS_CLK_GPOUT3_CTRL_AUXSRC_Enum aux);
 
+/**
+ * @brief   Configure the ADC clock to run from a dedicated auxiliary
+ *          clock source
+ *
+ * @param   aux     Auxiliary clock source
+ */
+void clock_adc_configure(CLOCKS_CLK_ADC_CTRL_AUXSRC_Enum aux);
 /** @} */
 
 /**
@@ -636,7 +651,7 @@ void pll_start_sys(uint8_t ref_div,
                    uint8_t post_div_1, uint8_t post_div_2);
 
 /**
- * @brief   Start the PLL for the system clock
+ * @brief   Start the PLL for the USB clock
  *          output[MHz] = f_ref / @p ref_div * @p vco_feedback_scale / @p post_div_1 / @p post_div_2
  *
  * @note    Usual setting should be (12 MHz, 1, 40, 5, 2) to get a 48 MHz USB clock signal
diff --git a/cpu/rpx0xx/periph/adc.c b/cpu/rpx0xx/periph/adc.c
new file mode 100644
index 0000000000..68eebac190
--- /dev/null
+++ b/cpu/rpx0xx/periph/adc.c
@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2023 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_rpx0xx
+ * @ingroup     drivers_periph_adc
+ * @{
+ *
+ * @file
+ * @brief       Low-level ADC driver implementation
+ *
+ * @author      Dylan Laduranty <dylan.laduranty@mesotic.com>
+ * @}
+ */
+
+#include <errno.h>
+#include "cpu.h"
+#include "mutex.h"
+#include "periph/adc.h"
+#include "periph_conf.h"
+
+/**
+ * @brief   Lock to prevent concurrency issues when used from different threads
+ */
+static mutex_t lock;
+
+static inline void _prep(void)
+{
+    mutex_lock(&lock);
+}
+
+static inline void _done(void)
+{
+    mutex_unlock(&lock);
+}
+
+static void _disable_digital_func(gpio_t pin)
+{
+
+    const gpio_pad_ctrl_t disable_digital_pad = {
+        .input_enable = 0,
+        .output_disable = 1,
+    };
+
+    gpio_set_pad_config(pin, disable_digital_pad);
+}
+
+int adc_init(adc_t line)
+{
+    if (line >= ADC_NUMOF) {
+        return -ENODEV;
+    }
+    /* Lock mutex for exclusive access */
+    _prep();
+    /* Reset ADC peripheral */
+    periph_reset(RESETS_RESET_adc_Msk);
+    periph_reset_done(RESETS_RESET_adc_Msk);
+
+    /* Enable ADC peripheral and its clock */
+    io_reg_atomic_set(&ADC->CS, 1 << ADC_CS_EN_Pos);
+    /* Disable associated GPIO functionality as requested by datasheet */
+    _disable_digital_func(adc_config[line].pin);
+    /* Unlock mutex */
+    _done();
+    return 0;
+}
+
+int32_t adc_sample(adc_t line, adc_res_t res)
+{
+    int val = 0;
+
+    /* rpx0xx MCU only supports 12 bits resolution */
+    if (res != ADC_RES_12BIT) {
+        return -EINVAL;
+    }
+    /* Lock mutex for exclusive access */
+    _prep();
+    /* Select the channel */
+    io_reg_write_dont_corrupt(&ADC->CS, adc_config[line].chan << ADC_CS_AINSEL_Pos,
+                              ADC_CS_AINSEL_Msk);
+    /* Wait for ADC to be ready */
+    while (!(ADC->CS & ADC_CS_READY_Msk)) {}
+    /* Trigger one-shot sample */
+    io_reg_atomic_set(&ADC->CS, 1 << ADC_CS_START_ONCE_Pos);
+    /* Wait for completion */
+    while (!(ADC->CS & ADC_CS_READY_Msk)) {}
+    /* Get the result */
+    val = ADC->RESULT & ADC_RESULT_RESULT_Msk;
+    /* Unlock mutex */
+    _done();
+    return val;
+}