diff --git a/drivers/at86rf215/Makefile.dep b/drivers/at86rf215/Makefile.dep
index 2810697566..d079dfb38f 100644
--- a/drivers/at86rf215/Makefile.dep
+++ b/drivers/at86rf215/Makefile.dep
@@ -33,3 +33,7 @@ endif
 USEMODULE += xtimer
 USEMODULE += ieee802154
 USEMODULE += netdev_ieee802154
+
+ifneq (,$(filter gnrc_netif_timestamp,$(USEMODULE)))
+  USEMODULE += at86rf215_timestamp
+endif
diff --git a/drivers/at86rf215/at86rf215.c b/drivers/at86rf215/at86rf215.c
index 6a88d527d4..23c093e3ce 100644
--- a/drivers/at86rf215/at86rf215.c
+++ b/drivers/at86rf215/at86rf215.c
@@ -150,6 +150,10 @@ if (!IS_ACTIVE(CONFIG_AT86RF215_USE_CLOCK_OUTPUT)){
         reg |= AMCS_AACK_MASK;
     }
 
+    if (IS_USED(MODULE_AT86RF215_TIMESTAMP)) {
+        at86rf215_reg_write(dev, dev->BBC->RG_CNTC,
+                                 CNTC_EN_MASK | CNTC_CAPRXS_MASK);
+    }
     at86rf215_reg_write(dev, dev->BBC->RG_AMCS, reg);
 
     if (CONFIG_AT86RF215_DEFAULT_PHY_MODE == IEEE802154_PHY_OQPSK) {
diff --git a/drivers/at86rf215/at86rf215_netdev.c b/drivers/at86rf215/at86rf215_netdev.c
index 1582223d2b..07ba4cb0fb 100644
--- a/drivers/at86rf215/at86rf215_netdev.c
+++ b/drivers/at86rf215/at86rf215_netdev.c
@@ -199,6 +199,16 @@ static int _recv(netdev_t *netdev, void *buf, size_t len, void *info)
     if (info != NULL) {
         netdev_ieee802154_rx_info_t *radio_info = info;
         radio_info->rssi = (int8_t) at86rf215_reg_read(dev, dev->RF->RG_EDV);
+
+        if (IS_USED(MODULE_AT86RF215_TIMESTAMP)) {
+            uint32_t rx_timestamp;
+            at86rf215_reg_read_bytes(dev, dev->BBC->RG_CNT0, &rx_timestamp,
+                                    sizeof(rx_timestamp));
+
+            /* convert counter value to ns */
+            radio_info->timestamp = rx_timestamp * 1000ULL / 32;
+            radio_info->flags |= NETDEV_RX_IEEE802154_INFO_FLAG_TIMESTAMP;
+        }
     }
 
     return pkt_len;
diff --git a/drivers/include/net/netdev/ieee802154.h b/drivers/include/net/netdev/ieee802154.h
index e1a0b4b608..6895ef6532 100644
--- a/drivers/include/net/netdev/ieee802154.h
+++ b/drivers/include/net/netdev/ieee802154.h
@@ -67,6 +67,13 @@ extern "C" {
  * @}
  */
 
+ /**
+ * @name    Flags for use in @ref netdev_ieee802154_rx_info::flags
+ * @{
+ */
+#define NETDEV_RX_IEEE802154_INFO_FLAG_TIMESTAMP       (0x01)  /**< Timestamp valid */
+/** @} */
+
 /**
  * @brief   Option parameter to be used with @ref NETOPT_CCA_MODE to set
  *          the mode of the clear channel assessment (CCA) defined
@@ -128,7 +135,15 @@ typedef struct {
 /**
  * @brief   Received packet status information for IEEE 802.15.4 radios
  */
-typedef struct netdev_radio_rx_info netdev_ieee802154_rx_info_t;
+typedef struct netdev_ieee802154_rx_info {
+    uint64_t timestamp;     /**< Timestamp value of a received frame in ns */
+    int16_t rssi;           /**< RSSI of a received frame in dBm */
+    uint8_t lqi;            /**< LQI of a received frame */
+    uint8_t flags;          /**< Flags e.g. used to mark other fields as valid */
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAP)
+    uint64_t timestamp;     /**< Timestamp value of a received frame in ns */
+#endif
+} netdev_ieee802154_rx_info_t;
 
 /**
  * @brief   Reset function for ieee802154 common fields
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index 9e17653459..bc02c3d348 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -4,6 +4,7 @@ PSEUDOMODULES += at_urc_isr_low
 PSEUDOMODULES += at_urc_isr_medium
 PSEUDOMODULES += at_urc_isr_highest
 PSEUDOMODULES += at24c%
+PSEUDOMODULES += at86rf215_timestamp
 PSEUDOMODULES += atomic_utils
 PSEUDOMODULES += base64url
 PSEUDOMODULES += board_software_reset
diff --git a/sys/net/gnrc/netif/ieee802154/gnrc_netif_ieee802154.c b/sys/net/gnrc/netif/ieee802154/gnrc_netif_ieee802154.c
index c54f6beb25..d1d324afbe 100644
--- a/sys/net/gnrc/netif/ieee802154/gnrc_netif_ieee802154.c
+++ b/sys/net/gnrc/netif/ieee802154/gnrc_netif_ieee802154.c
@@ -129,6 +129,11 @@ static gnrc_pktsnip_t *_recv(gnrc_netif_t *netif)
             gnrc_netif_hdr_t *hdr = netif_snip->data;
             hdr->lqi = rx_info.lqi;
             hdr->rssi = rx_info.rssi;
+#if IS_USED(MODULE_GNRC_NETIF_TIMESTAMP)
+            if (rx_info.flags & NETDEV_RX_IEEE802154_INFO_FLAG_TIMESTAMP) {
+                gnrc_netif_hdr_set_timestamp(hdr, rx_info.timestamp);
+            }
+#endif
             gnrc_netif_hdr_set_netif(hdr, netif);
             pkt = gnrc_pkt_append(pkt, netif_snip);
         }
@@ -198,6 +203,11 @@ static gnrc_pktsnip_t *_recv(gnrc_netif_t *netif)
 #endif
             hdr->lqi = rx_info.lqi;
             hdr->rssi = rx_info.rssi;
+#if IS_USED(MODULE_GNRC_NETIF_TIMESTAMP)
+            if (rx_info.flags & NETDEV_RX_IEEE802154_INFO_FLAG_TIMESTAMP) {
+                gnrc_netif_hdr_set_timestamp(hdr, rx_info.timestamp);
+            }
+#endif
             gnrc_netif_hdr_set_netif(hdr, netif);
             dev->driver->get(dev, NETOPT_PROTO, &pkt->type, sizeof(pkt->type));
             if (IS_ACTIVE(ENABLE_DEBUG)) {
diff --git a/tests/driver_at86rf215/Makefile b/tests/driver_at86rf215/Makefile
index f54d6765b5..bdddfa34f0 100644
--- a/tests/driver_at86rf215/Makefile
+++ b/tests/driver_at86rf215/Makefile
@@ -3,5 +3,6 @@ BOARD ?= openmote-b
 # the radio driver to test
 USEMODULE += at86rf215
 USEMODULE += at86rf215_batmon
+USEMODULE += at86rf215_timestamp
 
 include ../driver_netdev_common/Makefile.netdev.mk