diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index a40e41d80c..c992c3d375 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -43,6 +43,7 @@ PSEUDOMODULES += gnrc_netapi_callbacks
 PSEUDOMODULES += gnrc_netapi_mbox
 PSEUDOMODULES += gnrc_netif_bus
 PSEUDOMODULES += gnrc_netif_events
+PSEUDOMODULES += gnrc_netif_timestamp
 PSEUDOMODULES += gnrc_pktbuf_cmd
 PSEUDOMODULES += gnrc_netif_6lo
 PSEUDOMODULES += gnrc_netif_ipv6
diff --git a/sys/Makefile.dep b/sys/Makefile.dep
index c2f557cb6b..78d70c00dc 100644
--- a/sys/Makefile.dep
+++ b/sys/Makefile.dep
@@ -179,6 +179,9 @@ endif
 
 ifneq (,$(filter gnrc_sock_%,$(USEMODULE)))
   USEMODULE += gnrc_sock
+  ifneq (,$(filter sock_aux_timestamp,$(USEMODULE)))
+    USEMODULE += gnrc_netif_timestamp
+  endif
 endif
 
 ifneq (,$(filter gnrc_sock_async,$(USEMODULE)))
diff --git a/sys/include/net/gnrc/netif/hdr.h b/sys/include/net/gnrc/netif/hdr.h
index 3652565ee9..bc8e32ac5d 100644
--- a/sys/include/net/gnrc/netif/hdr.h
+++ b/sys/include/net/gnrc/netif/hdr.h
@@ -88,6 +88,17 @@ extern "C" {
  *          @ref IEEE802154_FCF_FRAME_PEND
  */
 #define GNRC_NETIF_HDR_FLAGS_MORE_DATA  (0x10)
+
+/**
+ * @brief   Indicate presence of a valid timestamp
+ *
+ * @details If (and only if) module `gnrc_netif_timestamp` is used and the
+ *          network device supplied the timestamp of reception of a frame, this
+ *          timestamp is passed up the network stack through
+ *          @ref gnrc_netif_hdr_t::timestamp and this flag is set. This flag
+ *          can be used to check for presence of a valid timestamp.
+ */
+#define GNRC_NETIF_HDR_FLAGS_TIMESTAMP  (0x08)
 /**
  * @}
  */
@@ -105,6 +116,24 @@ typedef struct {
     uint8_t flags;              /**< flags as defined above */
     uint8_t lqi;                /**< lqi of received packet (optional) */
     int16_t rssi;               /**< rssi of received packet in dBm (optional) */
+#if IS_USED(MODULE_GNRC_NETIF_TIMESTAMP) || defined(DOXYGEN)
+    /**
+     * @brief   Timestamp of reception in nanoseconds since epoch
+     *
+     * @note    Only when @ref GNRC_NETIF_HDR_FLAGS_TIMESTAMP is set, this
+     *          field contains valid info.
+     *
+     * This field is only provided if module `gnrc_netif_timestamp` is used.
+     * Keep in mind that when the hardware does not provide timestamping, the
+     * network device driver could choose to provide this in software, which
+     * adds the delay and jitter of the ISR handling to the timestamp. Please
+     * keep also in mind that a hardware implementation might not be able to
+     * reliable timestamp every frame - e.g. a full-duplex wired interface might
+     * be unable to timestamp a received frame while timestamping an outgoing
+     * frame.
+     */
+    uint64_t timestamp;
+#endif /* MODULE_GNRC_NETIF_TIMESTAMP */
 } gnrc_netif_hdr_t;
 
 /**
@@ -201,6 +230,50 @@ static inline void gnrc_netif_hdr_set_dst_addr(gnrc_netif_hdr_t *hdr,
     memcpy(((uint8_t *)(hdr + 1)) + hdr->src_l2addr_len, addr, addr_len);
 }
 
+/**
+ * @brief   Set the timestamp in the netif header
+ * @param[out]  hdr         Header to set the timestamp in
+ * @param[in]   timestamp   Timestamp to set (nanoseconds since epoch)
+ *
+ * @details If the module gnrc_netif_timestamp is not used, a call to this
+ *          function become a non-op (and will be fully optimized out by the
+ *          compiler)
+ */
+static inline void gnrc_netif_hdr_set_timestamp(gnrc_netif_hdr_t *hdr,
+                                                uint64_t timestamp)
+{
+    (void)hdr;
+    (void)timestamp;
+#if IS_USED(MODULE_GNRC_NETIF_TIMESTAMP)
+    hdr->timestamp = timestamp;
+    hdr->flags |= GNRC_NETIF_HDR_FLAGS_TIMESTAMP;
+#endif
+}
+
+/**
+ * @brief   Get the timestamp of the frame in nanoseconds since epoch
+ * @param[in]   hdr     Header to read the timestamp from
+ * @param[out]  dest    The timestamp will be stored here
+ * @retval      0       The timestamp was stored in @p dest
+ * @retval      -1      No timestamp available, @p dest is unchanged
+ *
+ * @details If the module gnrc_netif_timestamp is not used, this will always
+ *          return 0
+ */
+static inline int gnrc_netif_hdr_get_timestamp(const gnrc_netif_hdr_t *hdr,
+                                               uint64_t *dest)
+{
+    (void)hdr;
+    (void)dest;
+#if IS_USED(MODULE_GNRC_NETIF_TIMESTAMP)
+    if (hdr->flags & GNRC_NETIF_HDR_FLAGS_TIMESTAMP) {
+        *dest = hdr->timestamp;
+        return 0;
+    }
+#endif
+    return -1;
+}
+
 #if defined(MODULE_GNRC_IPV6) || defined(DOXYGEN)
 /**
  * @brief   Converts the source address of a given @ref net_gnrc_netif_hdr to
diff --git a/sys/net/gnrc/sock/gnrc_sock.c b/sys/net/gnrc/sock/gnrc_sock.c
index 1b7e15886e..aabee4c349 100644
--- a/sys/net/gnrc/sock/gnrc_sock.c
+++ b/sys/net/gnrc/sock/gnrc_sock.c
@@ -90,7 +90,7 @@ void gnrc_sock_create(gnrc_sock_reg_t *reg, gnrc_nettype_t type, uint32_t demux_
 
 ssize_t gnrc_sock_recv(gnrc_sock_reg_t *reg, gnrc_pktsnip_t **pkt_out,
                        uint32_t timeout, sock_ip_ep_t *remote,
-                       gnrc_sock_recv_aux_t aux)
+                       gnrc_sock_recv_aux_t *aux)
 {
     /* only used when some sock_aux_% module is used */
     (void)aux;
@@ -154,9 +154,9 @@ ssize_t gnrc_sock_recv(gnrc_sock_reg_t *reg, gnrc_pktsnip_t **pkt_out,
     memcpy(&remote->addr, &ipv6_hdr->src, sizeof(ipv6_addr_t));
     remote->family = AF_INET6;
 #if IS_USED(MODULE_SOCK_AUX_LOCAL)
-    if (aux.local != NULL) {
-        memcpy(&aux.local->addr, &ipv6_hdr->dst, sizeof(ipv6_addr_t));
-        aux.local->family = AF_INET6;
+    if (aux->local != NULL) {
+        memcpy(&aux->local->addr, &ipv6_hdr->dst, sizeof(ipv6_addr_t));
+        aux->local->family = AF_INET6;
     }
 #endif /* MODULE_SOCK_AUX_LOCAL */
     netif = gnrc_pktsnip_search_type(pkt, GNRC_NETTYPE_NETIF);
@@ -167,6 +167,13 @@ ssize_t gnrc_sock_recv(gnrc_sock_reg_t *reg, gnrc_pktsnip_t **pkt_out,
         gnrc_netif_hdr_t *netif_hdr = netif->data;
         /* TODO: use API in #5511 */
         remote->netif = (uint16_t)netif_hdr->if_pid;
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAMP)
+        if (aux->timestamp != NULL) {
+            if (gnrc_netif_hdr_get_timestamp(netif_hdr, aux->timestamp) == 0) {
+                aux->flags |= GNRC_SOCK_RECV_AUX_FLAG_TIMESTAMP;
+            }
+        }
+#endif /* MODULE_SOCK_AUX_TIMESTAMP */
     }
     *pkt_out = pkt; /* set out parameter */
 
diff --git a/sys/net/gnrc/sock/include/gnrc_sock_internal.h b/sys/net/gnrc/sock/include/gnrc_sock_internal.h
index df38e233de..485278f742 100644
--- a/sys/net/gnrc/sock/include/gnrc_sock_internal.h
+++ b/sys/net/gnrc/sock/include/gnrc_sock_internal.h
@@ -70,18 +70,17 @@ typedef struct {
      */
     sock_ip_ep_t *local;
 #endif
-#if !IS_USED(MODULE_SOCK_AUX_LOCAL) || DOXYGEN
-    /**
-     * @brief   Workaround in case no `sock_aux_%` module is used
-     *
-     * Empty structures are only allowed with a GNU extension. For portability,
-     * this member is present if and only if this structure would be otherwise
-     * empty.
-     */
-    uint8_t this_struct_is_not_empty;
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAMP) || DOXYGEN
+    uint64_t *timestamp;    /**< timestamp PDU was received at in nanoseconds */
 #endif
+    /**
+     * @brief   Flags
+     */
+    uint8_t flags;
 } gnrc_sock_recv_aux_t;
 
+#define GNRC_SOCK_RECV_AUX_FLAG_TIMESTAMP   0x01    /**< Timestamp valid */
+
 /**
  * @brief   Internal helper functions for GNRC
  * @internal
@@ -143,7 +142,7 @@ void gnrc_sock_create(gnrc_sock_reg_t *reg, gnrc_nettype_t type, uint32_t demux_
  * @internal
  */
 ssize_t gnrc_sock_recv(gnrc_sock_reg_t *reg, gnrc_pktsnip_t **pkt, uint32_t timeout,
-                       sock_ip_ep_t *remote, gnrc_sock_recv_aux_t aux);
+                       sock_ip_ep_t *remote, gnrc_sock_recv_aux_t *aux);
 
 /**
  * @brief   Send a packet internally
diff --git a/sys/net/gnrc/sock/ip/gnrc_sock_ip.c b/sys/net/gnrc/sock/ip/gnrc_sock_ip.c
index e10a19021b..86521f45c6 100644
--- a/sys/net/gnrc/sock/ip/gnrc_sock_ip.c
+++ b/sys/net/gnrc/sock/ip/gnrc_sock_ip.c
@@ -135,7 +135,12 @@ ssize_t sock_ip_recv_buf_aux(sock_ip_t *sock, void **data, void **buf_ctx,
         _aux.local = &aux->local;
     }
 #endif
-    res = gnrc_sock_recv((gnrc_sock_reg_t *)sock, &pkt, timeout, &tmp, _aux);
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAMP)
+    if ((aux != NULL) && (aux->flags & SOCK_AUX_GET_TIMESTAMP)) {
+        _aux.timestamp = &aux->timestamp;
+    }
+#endif
+    res = gnrc_sock_recv((gnrc_sock_reg_t *)sock, &pkt, timeout, &tmp, &_aux);
     if (res < 0) {
         return res;
     }
@@ -156,6 +161,16 @@ ssize_t sock_ip_recv_buf_aux(sock_ip_t *sock, void **data, void **buf_ctx,
     if ((aux != NULL) && (aux->flags & SOCK_AUX_GET_LOCAL)) {
         aux->flags &= ~(SOCK_AUX_GET_LOCAL);
     }
+#endif
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAMP)
+    if ((aux != NULL) && (aux->flags & SOCK_AUX_GET_TIMESTAMP)) {
+        /* check if network interface did provide a timestamp; this depends on
+         * hardware support. A timestamp of zero is used to indicate a missing
+         * timestamp */
+        if (aux->timestamp > 0) {
+            aux->flags &= ~SOCK_AUX_GET_TIMESTAMP;
+        }
+    }
 #endif
     *data = pkt->data;
     *buf_ctx = pkt;
diff --git a/sys/net/gnrc/sock/udp/gnrc_sock_udp.c b/sys/net/gnrc/sock/udp/gnrc_sock_udp.c
index fd81ec83d2..dbfa9cbcc5 100644
--- a/sys/net/gnrc/sock/udp/gnrc_sock_udp.c
+++ b/sys/net/gnrc/sock/udp/gnrc_sock_udp.c
@@ -224,7 +224,12 @@ ssize_t sock_udp_recv_buf_aux(sock_udp_t *sock, void **data, void **buf_ctx,
         _aux.local = (sock_ip_ep_t *)&aux->local;
     }
 #endif
-    res = gnrc_sock_recv((gnrc_sock_reg_t *)sock, &pkt, timeout, &tmp, _aux);
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAMP)
+    if ((aux != NULL) && (aux->flags & SOCK_AUX_GET_TIMESTAMP)) {
+        _aux.timestamp = &aux->timestamp;
+    }
+#endif
+    res = gnrc_sock_recv((gnrc_sock_reg_t *)sock, &pkt, timeout, &tmp, &_aux);
     if (res < 0) {
         return res;
     }
@@ -251,6 +256,16 @@ ssize_t sock_udp_recv_buf_aux(sock_udp_t *sock, void **data, void **buf_ctx,
         aux->flags &= ~SOCK_AUX_GET_LOCAL;
         aux->local.port = sock->local.port;
     }
+#endif
+#if IS_USED(MODULE_SOCK_AUX_TIMESTAMP)
+    if ((aux != NULL) && (aux->flags & SOCK_AUX_GET_TIMESTAMP)) {
+        /* check if network interface did provide a timestamp; this depends on
+         * hardware support. A timestamp of zero is used to indicate a missing
+         * timestamp */
+        if (_aux.flags & GNRC_SOCK_RECV_AUX_FLAG_TIMESTAMP) {
+            aux->flags &= ~SOCK_AUX_GET_TIMESTAMP;
+        }
+    }
 #endif
     *data = pkt->data;
     *buf_ctx = pkt;