diff --git a/drivers/lsm6dsl/Kconfig b/drivers/lsm6dsl/Kconfig
index 9cfc920094..ce0cae1fa6 100644
--- a/drivers/lsm6dsl/Kconfig
+++ b/drivers/lsm6dsl/Kconfig
@@ -10,4 +10,5 @@ config MODULE_LSM6DSL
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
-    select MODULE_XTIMER
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
diff --git a/drivers/lsm6dsl/Makefile.dep b/drivers/lsm6dsl/Makefile.dep
index 9508a8aff7..40e4e2276c 100644
--- a/drivers/lsm6dsl/Makefile.dep
+++ b/drivers/lsm6dsl/Makefile.dep
@@ -1,2 +1,3 @@
 FEATURES_REQUIRED += periph_i2c
-USEMODULE += xtimer
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
diff --git a/drivers/lsm6dsl/include/lsm6dsl_internal.h b/drivers/lsm6dsl/include/lsm6dsl_internal.h
index 0f99dbc78b..b9a9b48ecc 100644
--- a/drivers/lsm6dsl/include/lsm6dsl_internal.h
+++ b/drivers/lsm6dsl/include/lsm6dsl_internal.h
@@ -22,8 +22,6 @@
 #ifndef LSM6DSL_INTERNAL_H
 #define LSM6DSL_INTERNAL_H
 
-#include "xtimer.h"
-
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -159,9 +157,9 @@ extern "C" {
 #define LSM6DSL_TEMP_OFFSET                 (0x1900)
 
 /**
- * @brief 	Reboot wait interval in us (15ms)
+ * @brief 	Reboot wait interval in ms (15ms)
  */
-#define LSM6DSL_BOOT_WAIT                   (15 * US_PER_MS)
+#define LSM6DSL_BOOT_WAIT_MS                (15)
 
 #ifdef __cplusplus
 }
diff --git a/drivers/lsm6dsl/lsm6dsl.c b/drivers/lsm6dsl/lsm6dsl.c
index 237ff55b39..57672b83f3 100644
--- a/drivers/lsm6dsl/lsm6dsl.c
+++ b/drivers/lsm6dsl/lsm6dsl.c
@@ -22,7 +22,7 @@
 
 #include <assert.h>
 
-#include "xtimer.h"
+#include "ztimer.h"
 
 #include "lsm6dsl.h"
 #include "lsm6dsl_internal.h"
@@ -62,7 +62,7 @@ int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
     /* Reboot */
     i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT, 0);
 
-    xtimer_usleep(LSM6DSL_BOOT_WAIT);
+    ztimer_sleep(ZTIMER_MSEC, LSM6DSL_BOOT_WAIT_MS);
 
     if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_WHO_AM_I, &tmp, 0) < 0) {
         i2c_release(BUS);
diff --git a/tests/driver_lsm6dsl/Makefile b/tests/driver_lsm6dsl/Makefile
index 38134d3b89..15da961274 100644
--- a/tests/driver_lsm6dsl/Makefile
+++ b/tests/driver_lsm6dsl/Makefile
@@ -1,6 +1,7 @@
 include ../Makefile.tests_common
 
 USEMODULE += lsm6dsl
-USEMODULE += xtimer
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
 
 include $(RIOTBASE)/Makefile.include
diff --git a/tests/driver_lsm6dsl/app.config.test b/tests/driver_lsm6dsl/app.config.test
index 341a6372fd..92570d5912 100644
--- a/tests/driver_lsm6dsl/app.config.test
+++ b/tests/driver_lsm6dsl/app.config.test
@@ -1,4 +1,5 @@
 # this file enables modules defined in Kconfig. Do not use this file for
 # application configuration. This is only needed during migration.
 CONFIG_MODULE_LSM6DSL=y
-CONFIG_MODULE_XTIMER=y
+CONFIG_MODULE_ZTIMER=y
+CONFIG_MODULE_ZTIMER_MSEC=y
diff --git a/tests/driver_lsm6dsl/main.c b/tests/driver_lsm6dsl/main.c
index 4ba63cf78b..6daa262a1b 100644
--- a/tests/driver_lsm6dsl/main.c
+++ b/tests/driver_lsm6dsl/main.c
@@ -22,11 +22,11 @@
 
 #include <stdio.h>
 
-#include "xtimer.h"
+#include "ztimer.h"
 #include "lsm6dsl.h"
 #include "lsm6dsl_params.h"
 
-#define SLEEP_USEC  (500UL * US_PER_MS)
+#define SLEEP_MSEC  (500UL)
 
 int main(void)
 {
@@ -55,7 +55,7 @@ int main(void)
     }
     puts("[SUCCESS]\n");
 
-    xtimer_sleep(1);
+    ztimer_sleep(ZTIMER_MSEC, 1 * 1000);
 
     puts("Powering up LSM6DSL sensor...");
     if (lsm6dsl_acc_power_up(&dev) != LSM6DSL_OK) {
@@ -95,7 +95,7 @@ int main(void)
         }
 
         puts("");
-        xtimer_usleep(SLEEP_USEC);
+        ztimer_sleep(ZTIMER_MSEC, SLEEP_MSEC);
     }
 
     return 0;