diff --git a/sys/include/net/gnrc/ipv6.h b/sys/include/net/gnrc/ipv6.h
index 38e2178ca3..d5d10b635b 100644
--- a/sys/include/net/gnrc/ipv6.h
+++ b/sys/include/net/gnrc/ipv6.h
@@ -140,8 +140,8 @@ extern "C" {
 /**
  * @brief   Default message queue size to use for the IPv6 thread.
  */
-#ifndef GNRC_IPV6_MSG_QUEUE_SIZE
-#define GNRC_IPV6_MSG_QUEUE_SIZE    (8U)
+#ifndef CONFIG_GNRC_IPV6_MSG_QUEUE_SIZE
+#define CONFIG_GNRC_IPV6_MSG_QUEUE_SIZE    (8U)
 #endif
 
 #ifdef DOXYGEN
diff --git a/sys/net/gnrc/Kconfig b/sys/net/gnrc/Kconfig
index ed237b16d1..a26a099b8d 100644
--- a/sys/net/gnrc/Kconfig
+++ b/sys/net/gnrc/Kconfig
@@ -8,6 +8,7 @@ menu "GNRC Network stack"
     depends on MODULE_GNRC
 
 rsource "link_layer/lorawan/Kconfig"
+rsource "network_layer/ipv6/Kconfig"
 rsource "network_layer/ipv6/blacklist/Kconfig"
 rsource "network_layer/ipv6/whitelist/Kconfig"
 
diff --git a/sys/net/gnrc/network_layer/ipv6/Kconfig b/sys/net/gnrc/network_layer/ipv6/Kconfig
new file mode 100644
index 0000000000..14450bd6ec
--- /dev/null
+++ b/sys/net/gnrc/network_layer/ipv6/Kconfig
@@ -0,0 +1,19 @@
+# Copyright (c) 2020 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.
+#
+menuconfig KCONFIG_MODULE_GNRC_IPV6
+    bool "Configure GNRC IPv6 module"
+    depends on MODULE_GNRC_IPV6
+    help
+        Configure GNRC IPv6 module using Kconfig.
+
+if KCONFIG_MODULE_GNRC_IPV6
+
+config GNRC_IPV6_MSG_QUEUE_SIZE
+    int "Default message queue size to use for the IPv6 thread"
+    default 8
+
+endif # KCONFIG_MODULE_GNRC_IPV6
diff --git a/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c b/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c
index c3c526868f..aafa28f6c3 100644
--- a/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c
+++ b/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c
@@ -172,12 +172,12 @@ static void _dispatch_next_header(gnrc_pktsnip_t *pkt, unsigned nh,
 
 static void *_event_loop(void *args)
 {
-    msg_t msg, reply, msg_q[GNRC_IPV6_MSG_QUEUE_SIZE];
+    msg_t msg, reply, msg_q[CONFIG_GNRC_IPV6_MSG_QUEUE_SIZE];
     gnrc_netreg_entry_t me_reg = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
                                                             sched_active_pid);
 
     (void)args;
-    msg_init_queue(msg_q, GNRC_IPV6_MSG_QUEUE_SIZE);
+    msg_init_queue(msg_q, CONFIG_GNRC_IPV6_MSG_QUEUE_SIZE);
 
     /* initialize fragmentation data-structures */
 #ifdef MODULE_GNRC_IPV6_EXT_FRAG