diff --git a/pkg/tinydtls/Makefile.dep b/pkg/tinydtls/Makefile.dep
index e21d3e02ce..70e9b16f95 100644
--- a/pkg/tinydtls/Makefile.dep
+++ b/pkg/tinydtls/Makefile.dep
@@ -12,4 +12,5 @@ FEATURES_REQUIRED += arch_32bit
 
 ifneq (,$(filter sock_dtls,$(USEMODULE)))
   USEMODULE += tinydtls_sock_dtls
+  USEMODULE += ztimer_usec
 endif
diff --git a/pkg/tinydtls/contrib/sock_dtls.c b/pkg/tinydtls/contrib/sock_dtls.c
index 1dc82dc285..145aa28078 100644
--- a/pkg/tinydtls/contrib/sock_dtls.c
+++ b/pkg/tinydtls/contrib/sock_dtls.c
@@ -22,7 +22,7 @@
 #include "log.h"
 #include "net/sock/dtls.h"
 #include "net/credman.h"
-#include "xtimer.h"
+#include "ztimer.h"
 
 #if SOCK_HAS_ASYNC
 #include "net/sock/async.h"
@@ -624,8 +624,8 @@ ssize_t sock_dtls_send_aux(sock_dtls_t *sock, sock_dtls_session_t *remote,
             msg_t msg;
             bool is_timed_out = false;
             do {
-                uint32_t start = xtimer_now_usec();
-                res = xtimer_msg_receive_timeout(&msg, timeout);
+                uint32_t start = ztimer_now(ZTIMER_USEC);
+                res = ztimer_msg_receive_timeout(ZTIMER_USEC, &msg, timeout);
 
                 if (timeout != SOCK_NO_TIMEOUT) {
                     timeout = _update_timeout(start, timeout);
@@ -768,7 +768,7 @@ ssize_t sock_dtls_recv_aux(sock_dtls_t *sock, sock_dtls_session_t *remote,
     /* loop breaks when timeout or application data read */
     while (1) {
         ssize_t res;
-        uint32_t start_recv = xtimer_now_usec();
+        uint32_t start_recv = ztimer_now(ZTIMER_USEC);
         msg_t msg;
 
         if (sock->buffer.data != NULL) {
@@ -840,7 +840,7 @@ static void _session_to_ep(const session_t *session, sock_udp_ep_t *ep)
 
 static inline uint32_t _update_timeout(uint32_t start, uint32_t timeout)
 {
-    uint32_t diff = (xtimer_now_usec() - start);
+    uint32_t diff = (ztimer_now(ZTIMER_USEC) - start);
 
     return (diff > timeout) ? 0: timeout - diff;
 }