diff --git a/drivers/stmpe811/Kconfig b/drivers/stmpe811/Kconfig
index 6529d4b564..a7811b41bd 100644
--- a/drivers/stmpe811/Kconfig
+++ b/drivers/stmpe811/Kconfig
@@ -9,9 +9,12 @@ config MODULE_STMPE811
     bool
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_GPIO_IRQ
+    depends on HAS_PERIPH_I2C
+    depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
-    select MODULE_XTIMER
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
     depends on TEST_KCONFIG
 
 choice
diff --git a/drivers/stmpe811/Makefile.dep b/drivers/stmpe811/Makefile.dep
index f6fe18eb00..ea83dde63a 100644
--- a/drivers/stmpe811/Makefile.dep
+++ b/drivers/stmpe811/Makefile.dep
@@ -8,4 +8,5 @@ ifneq (,$(filter stmpe811_i2c,$(USEMODULE)))
   FEATURES_REQUIRED += periph_i2c
 endif
 
-USEMODULE += xtimer
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
diff --git a/drivers/stmpe811/stmpe811.c b/drivers/stmpe811/stmpe811.c
index c8d14bc2d2..aab2bde7fc 100644
--- a/drivers/stmpe811/stmpe811.c
+++ b/drivers/stmpe811/stmpe811.c
@@ -20,7 +20,7 @@
 
 #include <inttypes.h>
 
-#include "xtimer.h"
+#include "ztimer.h"
 #if IS_USED(MODULE_STMPE811_SPI)
 #include "periph/spi.h"
 #else
@@ -135,13 +135,13 @@ static int _soft_reset(const stmpe811_t *dev)
         DEBUG("[stmpe811] soft reset: cannot write soft reset bit to SYS_CTRL1 register\n");
         return -EPROTO;
     }
-    xtimer_msleep(10);
+    ztimer_sleep(ZTIMER_MSEC, 10);
 
     if (_write_reg(dev, STMPE811_SYS_CTRL1, 0) < 0) {
         DEBUG("[stmpe811] soft reset: cannot clear SYS_CTRL1 register\n");
         return -EPROTO;
     }
-    xtimer_msleep(2);
+    ztimer_sleep(ZTIMER_MSEC, 2);
 
     return 0;
 }
diff --git a/tests/driver_stmpe811/Makefile.ci b/tests/driver_stmpe811/Makefile.ci
new file mode 100644
index 0000000000..b9ff275375
--- /dev/null
+++ b/tests/driver_stmpe811/Makefile.ci
@@ -0,0 +1,3 @@
+BOARD_INSUFFICIENT_MEMORY := \
+    nucleo-l011k4 \
+    #