diff --git a/drivers/Kconfig b/drivers/Kconfig
index 0abe893186..7ba7d7ae61 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -18,6 +18,7 @@ rsource "grove_ledbar/Kconfig"
 rsource "motor_driver/Kconfig"
 rsource "my9221/Kconfig"
 rsource "rgbled/Kconfig"
+rsource "servo/Kconfig"
 rsource "ws281x/Kconfig"
 endmenu # Actuator Device Drivers
 
diff --git a/drivers/servo/Kconfig b/drivers/servo/Kconfig
new file mode 100644
index 0000000000..9cff354f93
--- /dev/null
+++ b/drivers/servo/Kconfig
@@ -0,0 +1,12 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# 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.
+#
+
+config MODULE_SERVO
+    bool "Servo Motor driver"
+    depends on HAS_PERIPH_PWM
+    depends on TEST_KCONFIG
+    select MODULE_PERIPH_PWM