diff --git a/cpu/stm32/Makefile.dep b/cpu/stm32/Makefile.dep
index cce11554dc..43e12b5ca8 100644
--- a/cpu/stm32/Makefile.dep
+++ b/cpu/stm32/Makefile.dep
@@ -43,7 +43,7 @@ ifneq (,$(filter periph_rtc_mem,$(USEMODULE)))
 endif
 
 ifneq (,$(filter periph_adc,$(FEATURES_USED)))
-  ifneq (,$(filter $(CPU_FAM),wl))
+  ifneq (,$(filter f3 l4 wl, $(CPU_FAM)))
     USEMODULE += ztimer
     USEMODULE += ztimer_msec
   endif
diff --git a/cpu/stm32/periph/Kconfig b/cpu/stm32/periph/Kconfig
index 0770a36680..5cea7a9c59 100644
--- a/cpu/stm32/periph/Kconfig
+++ b/cpu/stm32/periph/Kconfig
@@ -31,6 +31,6 @@ config MODULE_PERIPH_CAN
 config MODULE_PERIPH_ADC
     bool "ADC peripheral driver"
     depends on HAS_PERIPH_ADC
-    select MODULE_ZTIMER if HAS_CPU_STM32WL
-    select MODULE_ZTIMER_MSEC if HAS_CPU_STM32WL
+    select MODULE_ZTIMER if HAS_CPU_STM32F3 || HAS_CPU_STM32L4 || HAS_CPU_STM32WL
+    select MODULE_ZTIMER_MSEC if HAS_CPU_STM32F3 || HAS_CPU_STM32L4 || HAS_CPU_STM32WL
     select MODULE_PERIPH_COMMON
diff --git a/cpu/stm32/periph/adc_f3.c b/cpu/stm32/periph/adc_f3.c
index 87c29fdb63..2f0603719c 100644
--- a/cpu/stm32/periph/adc_f3.c
+++ b/cpu/stm32/periph/adc_f3.c
@@ -23,7 +23,7 @@
 #include "mutex.h"
 #include "periph/adc.h"
 #include "periph_conf.h"
-#include "xtimer.h"
+#include "ztimer.h"
 
 #define SMP_MIN         (0x2) /*< Sampling time for slow channels
                                   (0x2 = 4.5 ADC clock cycles) */
@@ -134,7 +134,13 @@ int adc_init(adc_t line)
     if (!(dev(line)->CR & ADC_CR_ADEN)) {
         /* Enable ADC internal voltage regulator and wait for startup period */
         dev(line)->CR |= ADC_CR_ADVREGEN;
-        xtimer_usleep(ADC_T_ADCVREG_STUP_US);
+#if IS_USED(MODULE_ZTIMER_USEC)
+        ztimer_sleep(ZTIMER_USEC, ADC_T_ADCVREG_STUP_US);
+#else
+        /* to avoid using ZTIMER_USEC unless already included round up the
+           internal voltage regulator start up to 1ms */
+        ztimer_sleep(ZTIMER_MSEC, 1);
+#endif
 
         if (dev(line)->DIFSEL & (1 << adc_config[line].chan)) {
             /* Configure calibration for differential inputs */
diff --git a/cpu/stm32/periph/adc_l4.c b/cpu/stm32/periph/adc_l4.c
index 5b637d640f..6dc7df9bf8 100644
--- a/cpu/stm32/periph/adc_l4.c
+++ b/cpu/stm32/periph/adc_l4.c
@@ -25,7 +25,7 @@
 #include "mutex.h"
 #include "periph/adc.h"
 #include "periph_conf.h"
-#include "xtimer.h"
+#include "ztimer.h"
 
 /**
  * @brief map CPU specific register/value names
@@ -138,7 +138,13 @@ int adc_init(adc_t line)
 
         /* enable ADC internal voltage regulator and wait for startup period */
         dev(line)->ADC_CR_REG |= (ADC_CR_ADVREGEN);
-        xtimer_usleep(ADC_T_ADCVREG_STUP_US);
+#if IS_USED(MODULE_ZTIMER_USEC)
+        ztimer_sleep(ZTIMER_USEC, ADC_T_ADCVREG_STUP_US);
+#else
+        /* to avoid using ZTIMER_USEC unless already included round up the
+           internal voltage regulator start up to 1ms */
+        ztimer_sleep(ZTIMER_MSEC, 1);
+#endif
 
         /* configure calibration for single ended input */
         dev(line)->ADC_CR_REG &= ~(ADC_CR_ADCALDIF);