diff --git a/drivers/mpu9x50/Kconfig b/drivers/mpu9x50/Kconfig
index 27d2c7ffa9..54213effac 100644
--- a/drivers/mpu9x50/Kconfig
+++ b/drivers/mpu9x50/Kconfig
@@ -28,6 +28,7 @@ config MODULE_MPU9X50
     bool
     depends on HAS_PERIPH_I2C
     select MODULE_PERIPH_I2C
-    select MODULE_XTIMER
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
 
 endif # TEST_KCONFIG
diff --git a/drivers/mpu9x50/Makefile.dep b/drivers/mpu9x50/Makefile.dep
index 9508a8aff7..40e4e2276c 100644
--- a/drivers/mpu9x50/Makefile.dep
+++ b/drivers/mpu9x50/Makefile.dep
@@ -1,2 +1,3 @@
 FEATURES_REQUIRED += periph_i2c
-USEMODULE += xtimer
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
diff --git a/drivers/mpu9x50/include/mpu9x50_internal.h b/drivers/mpu9x50/include/mpu9x50_internal.h
index 3c03479c4b..27ded883a3 100644
--- a/drivers/mpu9x50/include/mpu9x50_internal.h
+++ b/drivers/mpu9x50/include/mpu9x50_internal.h
@@ -43,10 +43,10 @@ extern "C" {
  * @name    Sleep times in microseconds
  * @{
  */
-#define MPU9X50_COMP_MODE_SLEEP_US  (1000)
-#define MPU9X50_BYPASS_SLEEP_US     (3000)
-#define MPU9X50_PWR_CHANGE_SLEEP_US (50000)
-#define MPU9X50_RESET_SLEEP_US      (100000)
+#define MPU9X50_COMP_MODE_SLEEP_MS  (1)     /**< 1ms sleep for comp mode */
+#define MPU9X50_BYPASS_SLEEP_MS     (3)     /**< 3ms sleep for bypass */
+#define MPU9X50_PWR_CHANGE_SLEEP_MS (50)    /**< 50ms sleep to change power */
+#define MPU9X50_RESET_SLEEP_MS      (100)   /**< 100ms sleep during driver reset */
 /** @} */
 
 /**
diff --git a/drivers/mpu9x50/mpu9x50.c b/drivers/mpu9x50/mpu9x50.c
index 20017a998b..fcb9be2f83 100644
--- a/drivers/mpu9x50/mpu9x50.c
+++ b/drivers/mpu9x50/mpu9x50.c
@@ -24,7 +24,7 @@
 #include "mpu9x50_regs.h"
 #include "mpu9x50_internal.h"
 #include "periph/i2c.h"
-#include "xtimer.h"
+#include "ztimer.h"
 #include "byteorder.h"
 
 #define ENABLE_DEBUG        0
@@ -73,7 +73,7 @@ int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params)
 
     /* Reset MPU9X50 registers and afterwards wake up the chip */
     i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_RESET, 0);
-    xtimer_usleep(MPU9X50_RESET_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_RESET_SLEEP_MS);
     i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_WAKEUP, 0);
 
     /* Release the bus, it is acquired again inside each function */
@@ -103,7 +103,7 @@ int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params)
     temp &= ~(MPU9X50_PWR_ACCEL | MPU9X50_PWR_GYRO);
     i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, temp, 0);
     i2c_release(DEV_I2C);
-    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
 
     return 0;
 }
@@ -142,7 +142,7 @@ int mpu9x50_set_accel_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
     i2c_release(DEV_I2C);
 
     dev->conf.accel_pwr = pwr_conf;
-    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
 
     return 0;
 }
@@ -188,7 +188,7 @@ int mpu9x50_set_gyro_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
     i2c_release(DEV_I2C);
 
     dev->conf.gyro_pwr = pwr_conf;
-    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
 
     return 0;
 }
@@ -231,7 +231,7 @@ int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
     i2c_release(DEV_I2C);
 
     dev->conf.compass_pwr = pwr_conf;
-    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_PWR_CHANGE_SLEEP_MS);
 
     return 0;
 }
@@ -492,10 +492,10 @@ static int compass_init(mpu9x50_t *dev)
 
     /* Configure Power Down mode */
     i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0);
-    xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_COMP_MODE_SLEEP_MS);
     /* Configure Fuse ROM access */
     i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_FUSE_ROM, 0);
-    xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_COMP_MODE_SLEEP_MS);
     /* Read sensitivity adjustment values from Fuse ROM */
     i2c_read_regs(DEV_I2C, DEV_COMP_ADDR, COMPASS_ASAX_REG, data, 3, 0);
     dev->conf.compass_x_adj = data[0];
@@ -503,7 +503,7 @@ static int compass_init(mpu9x50_t *dev)
     dev->conf.compass_z_adj = data[2];
     /* Configure Power Down mode again */
     i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0);
-    xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US);
+    ztimer_sleep(ZTIMER_MSEC, MPU9X50_COMP_MODE_SLEEP_MS);
 
     /* Disable Bypass Mode to configure MPU as master to the compass */
     conf_bypass(dev, 0);
@@ -553,13 +553,13 @@ static void conf_bypass(const mpu9x50_t *dev, uint8_t bypass_enable)
    if (bypass_enable) {
        data &= ~(BIT_I2C_MST_EN);
        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0);
-       xtimer_usleep(MPU9X50_BYPASS_SLEEP_US);
+       ztimer_sleep(ZTIMER_MSEC, MPU9X50_BYPASS_SLEEP_MS);
        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN, 0);
    }
    else {
        data |= BIT_I2C_MST_EN;
        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0);
-       xtimer_usleep(MPU9X50_BYPASS_SLEEP_US);
+       ztimer_sleep(ZTIMER_MSEC, MPU9X50_BYPASS_SLEEP_MS);
        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, REG_RESET, 0);
    }
 }
diff --git a/tests/driver_mpu9x50/Makefile b/tests/driver_mpu9x50/Makefile
index 262299eb8c..840ab47517 100644
--- a/tests/driver_mpu9x50/Makefile
+++ b/tests/driver_mpu9x50/Makefile
@@ -3,6 +3,7 @@ include ../Makefile.tests_common
 DRIVER ?= mpu9150
 
 USEMODULE += $(DRIVER)
-USEMODULE += xtimer
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
 
 include $(RIOTBASE)/Makefile.include
diff --git a/tests/driver_mpu9x50/app.config.test b/tests/driver_mpu9x50/app.config.test
index 7ae4813113..edb625451b 100644
--- a/tests/driver_mpu9x50/app.config.test
+++ b/tests/driver_mpu9x50/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_MPU9150=y
-CONFIG_MODULE_XTIMER=y
+CONFIG_MODULE_ZTIMER=y
+CONFIG_MODULE_ZTIMER_MSEC=y
diff --git a/tests/driver_mpu9x50/main.c b/tests/driver_mpu9x50/main.c
index cc94aee703..6e5b5a6ff9 100644
--- a/tests/driver_mpu9x50/main.c
+++ b/tests/driver_mpu9x50/main.c
@@ -23,14 +23,13 @@
 #include <stdio.h>
 #include <inttypes.h>
 
-#include "xtimer.h"
+#include "timex.h"
+#include "ztimer.h"
 #include "board.h"
 
 #include "mpu9x50.h"
 #include "mpu9x50_params.h"
 
-#define SLEEP_USEC   (1000 * 1000u)
-
 int main(void)
 {
     mpu9x50_t dev;
@@ -92,7 +91,7 @@ int main(void)
         printf("Temperature [milli deg] : %"PRId32"\n", temperature);
         printf("\n+-------------------------------------+\n");
 
-        xtimer_usleep(SLEEP_USEC);
+        ztimer_sleep(ZTIMER_MSEC, MS_PER_SEC);  /* 1s delay */
     }
 
     return 0;