diff --git a/sys/include/net/gnrc/rpl.h b/sys/include/net/gnrc/rpl.h
index 9b4d6b6036..90a477da79 100644
--- a/sys/include/net/gnrc/rpl.h
+++ b/sys/include/net/gnrc/rpl.h
@@ -152,7 +152,6 @@
 #include "net/gnrc/rpl/dodag.h"
 #include "net/gnrc/rpl/of_manager.h"
 #include "net/fib.h"
-#include "xtimer.h"
 #include "trickle.h"
 
 #ifdef MODULE_NETSTATS_RPL
diff --git a/sys/net/gnrc/Makefile.dep b/sys/net/gnrc/Makefile.dep
index 8d76b02003..5652403ae6 100644
--- a/sys/net/gnrc/Makefile.dep
+++ b/sys/net/gnrc/Makefile.dep
@@ -99,7 +99,9 @@ ifneq (,$(filter gnrc_rpl,$(USEMODULE)))
   USEMODULE += gnrc_icmpv6
   USEMODULE += gnrc_ipv6_nib
   USEMODULE += trickle
-  USEMODULE += xtimer
+  ifeq (,$(filter ztimer_msec,$(USEMODULE)))
+    USEMODULE += xtimer
+  endif
   USEMODULE += evtimer
 endif
 
diff --git a/sys/net/gnrc/routing/rpl/gnrc_rpl.c b/sys/net/gnrc/routing/rpl/gnrc_rpl.c
index 154b031632..cc42f6453b 100644
--- a/sys/net/gnrc/routing/rpl/gnrc_rpl.c
+++ b/sys/net/gnrc/routing/rpl/gnrc_rpl.c
@@ -26,6 +26,12 @@
 #include "mutex.h"
 #include "evtimer.h"
 #include "random.h"
+#if IS_USED(MODULE_ZTIMER_MSEC)
+#include "ztimer.h"
+#include "timex.h"
+#else
+#include "xtimer.h"
+#endif
 #include "gnrc_rpl_internal/globals.h"
 
 #include "net/gnrc/rpl.h"
@@ -41,8 +47,13 @@ static char _stack[GNRC_RPL_STACK_SIZE];
 kernel_pid_t gnrc_rpl_pid = KERNEL_PID_UNDEF;
 const ipv6_addr_t ipv6_addr_all_rpl_nodes = GNRC_RPL_ALL_NODES_ADDR;
 #ifdef MODULE_GNRC_RPL_P2P
+#if IS_USED(MODULE_ZTIMER_MSEC)
+static uint32_t _lt_time = GNRC_RPL_LIFETIME_UPDATE_STEP * MS_PER_SEC;
+static ztimer_t _lt_timer;
+#else
 static uint32_t _lt_time = GNRC_RPL_LIFETIME_UPDATE_STEP * US_PER_SEC;
 static xtimer_t _lt_timer;
+#endif
 static msg_t _lt_msg = { .type = GNRC_RPL_MSG_TYPE_LIFETIME_UPDATE };
 #endif
 static msg_t _msg_q[GNRC_RPL_MSG_QUEUE_SIZE];
@@ -96,8 +107,13 @@ kernel_pid_t gnrc_rpl_init(kernel_pid_t if_pid)
         gnrc_rpl_of_manager_init();
         evtimer_init_msg(&gnrc_rpl_evtimer);
 #ifdef MODULE_GNRC_RPL_P2P
+#if IS_USED(MODULE_ZTIMER_MSEC)
+        ztimer_set_msg(ZTIMER_MSEC, &_lt_timer, _lt_time,
+                       &_lt_msg, gnrc_rpl_pid);
+#else
         xtimer_set_msg(&_lt_timer, _lt_time, &_lt_msg, gnrc_rpl_pid);
 #endif
+#endif
 
 #ifdef MODULE_NETSTATS_RPL
         memset(&gnrc_rpl_netstats, 0, sizeof(gnrc_rpl_netstats));
@@ -332,7 +348,11 @@ void _update_lifetime(void)
 {
     gnrc_rpl_p2p_update();
 
+#if IS_USED(MODULE_ZTIMER_MSEC)
+    ztimer_set_msg(ZTIMER_MSEC, &_lt_timer, _lt_time, &_lt_msg, gnrc_rpl_pid);
+#else
     xtimer_set_msg(&_lt_timer, _lt_time, &_lt_msg, gnrc_rpl_pid);
+#endif
 }
 #endif
 
diff --git a/sys/net/gnrc/routing/rpl/gnrc_rpl_control_messages.c b/sys/net/gnrc/routing/rpl/gnrc_rpl_control_messages.c
index 2e18583be2..2c30383678 100644
--- a/sys/net/gnrc/routing/rpl/gnrc_rpl_control_messages.c
+++ b/sys/net/gnrc/routing/rpl/gnrc_rpl_control_messages.c
@@ -19,6 +19,11 @@
 #include <assert.h>
 #include <string.h>
 #include "kernel_defines.h"
+#if IS_USED(MODULE_ZTIMER_MSEC)
+#include "ztimer.h"
+#else
+#include "xtimer.h"
+#endif
 
 #include "net/af.h"
 #include "net/icmpv6.h"
@@ -322,7 +327,11 @@ gnrc_pktsnip_t *_dio_prefix_info_build(gnrc_pktsnip_t *pkt, gnrc_rpl_dodag_t *do
     prefix_info->prefix_len = 64;
     if (_get_pl_entry(dodag->iface, &dodag->dodag_id, prefix_info->prefix_len,
                       &ple)) {
+#if IS_USED(MODULE_ZTIMER_MSEC)
+        uint32_t now = (uint32_t)ztimer_now(ZTIMER_MSEC);
+#else
         uint32_t now = (xtimer_now_usec64() / US_PER_MS) & UINT32_MAX;
+#endif
         uint32_t valid_ltime = (ple.valid_until < UINT32_MAX) ?
                                (ple.valid_until - now) / MS_PER_SEC : UINT32_MAX;
         uint32_t pref_ltime = (ple.pref_until < UINT32_MAX) ?