diff --git a/sys/event/event.c b/sys/event/event.c
index 56c1ae5b94..2091cf9199 100644
--- a/sys/event/event.c
+++ b/sys/event/event.c
@@ -96,14 +96,20 @@ event_t *event_get(event_queue_t *queue)
     return result;
 }
 
-event_t *event_wait(event_queue_t *queue)
+event_t *event_wait_multi(event_queue_t *queues, size_t n_queues)
 {
-    assert(queue);
+    assert(queues && n_queues);
     event_t *result;
 
     do {
         unsigned state = irq_disable();
-        result = (event_t *)clist_lpop(&queue->event_list);
+        for (size_t i = 0; i < n_queues; i++) {
+            result = container_of(clist_lpop(&queues[i].event_list),
+                                  event_t, list_node);
+            if (result) {
+                break;
+            }
+        }
         irq_restore(state);
         if (result == NULL) {
             thread_flags_wait_any(THREAD_FLAG_EVENT);
@@ -152,11 +158,11 @@ event_t *event_wait_timeout64(event_queue_t *queue, uint64_t timeout)
 }
 #endif
 
-void event_loop(event_queue_t *queue)
+void event_loop_multi(event_queue_t *queues, size_t n_queues)
 {
     event_t *event;
 
-    while ((event = event_wait(queue))) {
+    while ((event = event_wait_multi(queues, n_queues))) {
         event->handler(event);
     }
 }
diff --git a/sys/include/event.h b/sys/include/event.h
index 2814a16347..09ef7ea291 100644
--- a/sys/include/event.h
+++ b/sys/include/event.h
@@ -215,6 +215,35 @@ void event_cancel(event_queue_t *queue, event_t *event);
  */
 event_t *event_get(event_queue_t *queue);
 
+/**
+ * @brief   Get next event from the given event queues, blocking
+ *
+ * This function will block until an event becomes available. If more than one
+ * queue contains an event, the queue with the lowest index is chosen. Thus,
+ * a lower index in the @p queues array translates into a higher priority of
+ * the queue.
+ *
+ * In order to handle an event retrieved using this function,
+ * call event->handler(event).
+ *
+ * @warning There can only be a single waiter on a queue!
+ *
+ * @note    This function *can* be suitable for having a single thread
+ *          handling both real-time and non-real-time events. However, a real
+ *          time event can be delayed for the whole duration a single
+ *          non-real-time event takes (in addition to all other sources of
+ *          latency). Thus, the slowest to handle non-real-time event must still
+ *          execute fast enough to add an amount of latency (on top of other
+ *          sources of latency) that is acceptable to the real-time event with
+ *          the strictest requirements.
+ *
+ * @param[in]   queues      Array of event queues to get event from
+ * @param[in]   n_queues    Number of event queues passed in @p queues
+ *
+ * @returns     pointer to next event
+ */
+event_t *event_wait_multi(event_queue_t *queues, size_t n_queues);
+
 /**
  * @brief   Get next event from event queue, blocking
  *
@@ -223,13 +252,16 @@ event_t *event_get(event_queue_t *queue);
  * In order to handle an event retrieved using this function,
  * call event->handler(event).
  *
- * @note    There can only be a single waiter on a queue!
+ * @warning     There can only be a single waiter on a queue!
  *
  * @param[in]   queue   event queue to get event from
  *
  * @returns     pointer to next event
  */
-event_t *event_wait(event_queue_t *queue);
+static inline event_t *event_wait(event_queue_t *queue)
+{
+    return event_wait_multi(queue, 1);
+}
 
 #if defined(MODULE_XTIMER) || defined(DOXYGEN)
 /**
@@ -255,6 +287,29 @@ event_t *event_wait_timeout(event_queue_t *queue, uint32_t timeout);
 event_t *event_wait_timeout64(event_queue_t *queue, uint64_t timeout);
 #endif
 
+/**
+ * @brief   Simple event loop with multiple queues
+ *
+ * This function will forever sit in a loop, waiting for events to be queued
+ * and executing their handlers. If more than one queue contains an event, the
+ * queue with the lowest index is chosen. Thus, a lower index in the @p queues
+ * array translates into a higher priority of the queue.
+ *
+ * It is pretty much defined as:
+ *
+ * ~~~~~~~~~~~~~~~~~~~~~~~~~~~ {.c}
+ *     while ((event = event_wait_multi(queues, n_queues))) {
+ *         event->handler(event);
+ *     }
+ * ~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ *
+ * @see event_wait_multi
+ *
+ * @param[in]   queues      Event queues to process
+ * @param[in]   n_queues    Number of queues passed with @p queues
+ */
+void event_loop_multi(event_queue_t *queues, size_t n_queues);
+
 /**
  * @brief   Simple event loop
  *
@@ -271,7 +326,10 @@ event_t *event_wait_timeout64(event_queue_t *queue, uint64_t timeout);
  *
  * @param[in]   queue   event queue to process
  */
-void event_loop(event_queue_t *queue);
+static inline void event_loop(event_queue_t *queue)
+{
+    event_loop_multi(queue, 1);
+}
 
 #ifdef __cplusplus
 }
diff --git a/tests/events/main.c b/tests/events/main.c
index 7acbe9c039..2b1a85c382 100644
--- a/tests/events/main.c
+++ b/tests/events/main.c
@@ -28,8 +28,9 @@
 #include "event/timeout.h"
 #include "event/callback.h"
 
-#define STACKSIZE       THREAD_STACKSIZE_DEFAULT
-#define PRIO            (THREAD_PRIORITY_MAIN - 1)
+#define STACKSIZE               THREAD_STACKSIZE_DEFAULT
+#define PRIO                    (THREAD_PRIORITY_MAIN - 1)
+#define DELAYED_QUEUES_NUMOF    2
 
 static char stack[STACKSIZE];
 
@@ -42,16 +43,18 @@ static void timed_callback(void *arg);
 static void forbidden_callback(void *arg);
 static void delayed_callback1(event_t *arg);
 static void delayed_callback2(event_t *arg);
+static void delayed_callback3(event_t *arg);
 
 static event_t event = { .handler = callback };
 static event_t event2 = { .handler = callback };
 static event_t delayed_event1 = { .handler = delayed_callback1 };
 static event_t delayed_event2 = { .handler = delayed_callback2 };
+static event_t delayed_event3 = { .handler = delayed_callback3 };
 
 static void callback(event_t *arg)
 {
     order++;
-    expect(order == 3);
+    expect(order == 4);
     expect(arg == &event);
     printf("triggered 0x%08x\n", (unsigned)arg);
 }
@@ -68,7 +71,7 @@ static event_callback_t noevent_callback = EVENT_CALLBACK_INIT(forbidden_callbac
 static void custom_callback(event_t *event)
 {
     order++;
-    expect(order == 4);
+    expect(order == 5);
     expect(event == (event_t *)&custom_event);
     custom_event_t *custom_event = (custom_event_t *)event;
     printf("triggered custom event with text: \"%s\"\n", custom_event->text);
@@ -77,7 +80,7 @@ static void custom_callback(event_t *event)
 static void timed_callback(void *arg)
 {
     order++;
-    expect(order == 5);
+    expect(order == 6);
     expect(arg == event_callback.arg);
     uint32_t now = xtimer_now_usec();
     expect((now - before >= 100000LU));
@@ -99,7 +102,7 @@ static void forbidden_callback(void *arg)
 static void delayed_callback1(event_t *arg)
 {
     order++;
-    expect(order == 1);
+    expect(order == 2);
     expect(arg == &delayed_event1);
     printf("triggered delayed event %p\n", (void *)arg);
 }
@@ -107,19 +110,29 @@ static void delayed_callback1(event_t *arg)
 static void delayed_callback2(event_t *arg)
 {
     order++;
-    expect(order == 2);
+    expect(order == 3);
     expect(arg == &delayed_event2);
     printf("triggered delayed event %p\n", (void *)arg);
 }
 
+static void delayed_callback3(event_t *arg)
+{
+    order++;
+    expect(order == 1);
+    expect(arg == &delayed_event3);
+    printf("triggered delayed event %p\n", (void *)arg);
+}
+
 static void *claiming_thread(void *arg)
 {
-    event_queue_t *dq = (event_queue_t *)arg;
+    event_queue_t *dqs = arg;
 
-    printf("claiming event queue %p\n", (void *)dq);
-    event_queue_claim(dq);
-    printf("launching event queue %p\n", (void *)dq);
-    event_loop(dq);
+    printf("claiming event queues %p\n", (void *)dqs);
+    for (size_t i = 0; i < DELAYED_QUEUES_NUMOF; i++) {
+        event_queue_claim(&dqs[i]);
+    }
+    printf("launching event queue for queues %p\n", (void *)dqs);
+    event_loop_multi(dqs, DELAYED_QUEUES_NUMOF);
 
     return NULL;
 }
@@ -129,17 +142,22 @@ int main(void)
     puts("[START] event test application.\n");
 
     /* test creation of delayed claiming of a detached event queue */
-    event_queue_t dq = EVENT_QUEUE_INIT_DETACHED;
-    printf("initializing detached event queue %p\n", (void *)&dq);
-    event_queue_init_detached(&dq);
+    event_queue_t dqs[DELAYED_QUEUES_NUMOF] = {
+        EVENT_QUEUE_INIT_DETACHED, EVENT_QUEUE_INIT_DETACHED
+    };
+    printf("initializing detached event queues %p\n", (void *)dqs);
+    event_queue_init_detached(&dqs[0]);
+    event_queue_init_detached(&dqs[1]);
 
-    printf("posting %p\n", (void *)&delayed_event1);
-    event_post(&dq, &delayed_event1);
-    printf("posting %p\n", (void *)&delayed_event2);
-    event_post(&dq, &delayed_event2);
+    printf("posting %p to delayed queue at index 1\n", (void *)&delayed_event1);
+    event_post(&dqs[1], &delayed_event1);
+    printf("posting %p to delayed queue at index 1\n", (void *)&delayed_event2);
+    event_post(&dqs[1], &delayed_event2);
+    printf("posting %p to delayed queue at index 0\n", (void *)&delayed_event3);
+    event_post(&dqs[0], &delayed_event3);
 
-    printf("running thread that will claim event queue %p\n", (void *)&dq);
-    thread_create(stack, sizeof(stack), PRIO, 0, claiming_thread, &dq, "ct");
+    printf("running thread that will claim event queues %p\n", (void *)&dqs);
+    thread_create(stack, sizeof(stack), PRIO, 0, claiming_thread, dqs, "ct");
 
     /* test posting different kind of events in order to a statically
      * initialized queue */