diff --git a/drivers/mbox/CMakeLists.txt b/drivers/mbox/CMakeLists.txt
index 1a862e6375a..bc1a38cb0b0 100644
--- a/drivers/mbox/CMakeLists.txt
+++ b/drivers/mbox/CMakeLists.txt
@@ -19,3 +19,4 @@ zephyr_library_sources_ifdef(CONFIG_MBOX_NRF_BELLBOARD_RX mbox_nrf_bellboard_rx.
 zephyr_library_sources_ifdef(CONFIG_MBOX_NRF_BELLBOARD_TX mbox_nrf_bellboard_tx.c)
 zephyr_library_sources_ifdef(CONFIG_MBOX_STM32_HSEM   mbox_stm32_hsem.c)
 zephyr_library_sources_ifdef(CONFIG_MBOX_IVSHMEM mbox_ivshmem.c)
+zephyr_library_sources_ifdef(CONFIG_MBOX_TI_OMAP_MAILBOX   mbox_ti_omap.c)
diff --git a/drivers/mbox/Kconfig b/drivers/mbox/Kconfig
index 66029780128..7c614849907 100644
--- a/drivers/mbox/Kconfig
+++ b/drivers/mbox/Kconfig
@@ -23,6 +23,8 @@ source "drivers/mbox/Kconfig.nrf_bellboard"
 source "drivers/mbox/Kconfig.stm32_hsem"
 source "drivers/mbox/Kconfig.esp32"
 source "drivers/mbox/Kconfig.ivshmem"
+source "drivers/mbox/Kconfig.ti_omap"
+
 
 config MBOX_INIT_PRIORITY
 	int "MBOX init priority"
diff --git a/drivers/mbox/Kconfig.ti_omap b/drivers/mbox/Kconfig.ti_omap
new file mode 100644
index 00000000000..8cc040ea521
--- /dev/null
+++ b/drivers/mbox/Kconfig.ti_omap
@@ -0,0 +1,9 @@
+# Copyright 2024 Texas Instruments Incorporated.
+# SPDX-License-Identifier: Apache-2.0
+
+config MBOX_TI_OMAP_MAILBOX
+	bool "TI OMAP Mailbox driver"
+	default y
+	depends on DT_HAS_TI_OMAP_MAILBOX_ENABLED
+	help
+	  Driver for TI OMAP Mailbox.
diff --git a/drivers/mbox/mbox_ti_omap.c b/drivers/mbox/mbox_ti_omap.c
new file mode 100644
index 00000000000..b75a88b70be
--- /dev/null
+++ b/drivers/mbox/mbox_ti_omap.c
@@ -0,0 +1,230 @@
+/*
+ * Copyright (c) 2024 Texas Instruments Incorporated.
+ *
+ * TI OMAP Mailbox driver for Zephyr's MBOX model.
+ */
+
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/mbox.h>
+#include <zephyr/irq.h>
+#include <zephyr/spinlock.h>
+#define LOG_LEVEL CONFIG_MBOX_LOG_LEVEL
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(ti_omap_mailbox);
+
+#define DT_DRV_COMPAT ti_omap_mailbox
+
+#define MAILBOX_IRQ_NEWMSG(m)  (1 << (2 * (m)))
+#define MAILBOX_IRQ_NOTFULL(m) (1 << (2 * (m) + 1))
+#define OMAP_MAILBOX_NUM_MSGS  16
+#define MAILBOX_MAX_CHANNELS   16
+#define OMAP_MAILBOX_NUM_USERS 4
+#define MAILBOX_MBOX_SIZE      sizeof(uint32_t)
+
+#define DEV_CFG(_dev)     ((const struct omap_mailbox_config *)(_dev)->config)
+#define DEV_DATA(_dev)    ((struct omap_mailbox_data *)(_dev)->data)
+#define DEV_REG_BASE(dev) ((struct omap_mailbox_regs *)DEVICE_MMIO_NAMED_GET(dev, reg_base))
+
+struct omap_mailbox_data {
+	DEVICE_MMIO_NAMED_RAM(reg_base);
+	mbox_callback_t cb[MAILBOX_MAX_CHANNELS];
+	void *user_data[MAILBOX_MAX_CHANNELS];
+	bool channel_enable[MAILBOX_MAX_CHANNELS];
+	uint32_t received_data;
+	struct k_spinlock lock;
+};
+
+struct omap_mailbox_config {
+	DEVICE_MMIO_NAMED_ROM(reg_base);
+	uint32_t irq;
+	uint32_t usr_id;
+};
+
+struct omap_mailbox_irq_regs {
+	uint32_t status_raw;
+	uint32_t status_clear;
+	uint32_t enable_set;
+	uint32_t enable_clear;
+};
+
+struct omap_mailbox_regs {
+	uint32_t revision;
+	uint32_t __pad0[3];
+	uint32_t sysconfig;
+	uint32_t __pad1[11];
+	uint32_t message[OMAP_MAILBOX_NUM_MSGS];
+	uint32_t fifo_status[OMAP_MAILBOX_NUM_MSGS];
+	uint32_t msg_status[OMAP_MAILBOX_NUM_MSGS];
+	struct omap_mailbox_irq_regs irq_regs[OMAP_MAILBOX_NUM_USERS];
+};
+
+static void omap_mailbox_isr(const struct device *dev)
+{
+	volatile struct omap_mailbox_regs *regs = DEV_REG_BASE(dev);
+	const struct omap_mailbox_config *cfg = DEV_CFG(dev);
+	struct omap_mailbox_data *data = DEV_DATA(dev);
+
+	uint32_t irq_enabled = regs->irq_regs[cfg->usr_id].enable_set;
+	uint32_t flags = regs->irq_regs[cfg->usr_id].status_clear;
+
+	regs->irq_regs[cfg->usr_id].enable_set = 0;
+
+	for (int i_channel = 0; i_channel < MAILBOX_MAX_CHANNELS; i_channel++) {
+		if (!data->channel_enable[i_channel]) {
+			continue;
+		}
+
+		if ((flags & MAILBOX_IRQ_NEWMSG(i_channel))) {
+			data->received_data = regs->message[i_channel];
+			struct mbox_msg msg = {
+				.data = (const void *)&data->received_data,
+				.size = MAILBOX_MBOX_SIZE,
+			};
+
+			if (data->cb[i_channel]) {
+				data->cb[i_channel](dev, i_channel, data->user_data[i_channel],
+						    &msg);
+			}
+		}
+	}
+
+	regs->irq_regs[cfg->usr_id].status_clear = flags;
+	regs->irq_regs[cfg->usr_id].enable_set = irq_enabled;
+}
+
+static int omap_mailbox_send(const struct device *dev, uint32_t channel, const struct mbox_msg *msg)
+{
+	uint32_t __aligned(4) data32;
+
+	volatile struct omap_mailbox_regs *regs = DEV_REG_BASE(dev);
+	struct omap_mailbox_data *data = DEV_DATA(dev);
+	k_spinlock_key_t key;
+
+	if (channel >= MAILBOX_MAX_CHANNELS) {
+		return -EINVAL;
+	}
+
+	if (regs->fifo_status[channel]) {
+		return -EBUSY;
+	}
+
+	key = k_spin_lock(&data->lock);
+	if (!msg) {
+		regs->message[channel] = 0;
+		k_spin_unlock(&data->lock, key);
+		return 0;
+	}
+
+	if (msg->size > MAILBOX_MBOX_SIZE) {
+		k_spin_unlock(&data->lock, key);
+		return -EMSGSIZE;
+	}
+
+	memcpy(&data32, msg->data, msg->size);
+	regs->message[channel] = data32;
+	k_spin_unlock(&data->lock, key);
+
+	return 0;
+}
+
+static int omap_mailbox_register_callback(const struct device *dev, uint32_t channel,
+					  mbox_callback_t cb, void *user_data)
+{
+	struct omap_mailbox_data *data = DEV_DATA(dev);
+	k_spinlock_key_t key;
+
+	if (channel >= MAILBOX_MAX_CHANNELS) {
+		return -EINVAL;
+	}
+
+	key = k_spin_lock(&data->lock);
+	data->cb[channel] = cb;
+	data->user_data[channel] = user_data;
+	k_spin_unlock(&data->lock, key);
+
+	return 0;
+}
+
+static int omap_mailbox_mtu_get(const struct device *dev)
+{
+	ARG_UNUSED(dev);
+
+	return MAILBOX_MBOX_SIZE;
+}
+
+static uint32_t omap_mailbox_max_channels_get(const struct device *dev)
+{
+	ARG_UNUSED(dev);
+
+	return MAILBOX_MAX_CHANNELS;
+}
+
+static int omap_mailbox_set_enabled(const struct device *dev, uint32_t channel, bool enable)
+{
+	const struct omap_mailbox_config *cfg = DEV_CFG(dev);
+	struct omap_mailbox_data *data = DEV_DATA(dev);
+	volatile struct omap_mailbox_regs *regs;
+	k_spinlock_key_t key;
+	uint32_t irqstatus;
+
+	if (channel >= MAILBOX_MAX_CHANNELS) {
+		return -EINVAL;
+	}
+
+	if (enable && data->channel_enable[channel]) {
+		return -EALREADY;
+	}
+
+	key = k_spin_lock(&data->lock);
+	regs = DEV_REG_BASE(dev);
+	irqstatus = regs->irq_regs[cfg->usr_id].enable_set;
+
+	if (enable) {
+		irqstatus |= MAILBOX_IRQ_NEWMSG(channel);
+	} else {
+		irqstatus &= ~MAILBOX_IRQ_NEWMSG(channel);
+	}
+
+	regs->irq_regs[cfg->usr_id].enable_set = irqstatus;
+	data->channel_enable[channel] = enable;
+
+	if (enable) {
+		irq_enable(cfg->irq);
+	} else {
+		irq_disable(cfg->irq);
+	}
+
+	k_spin_unlock(&data->lock, key);
+
+	return 0;
+}
+
+static const struct mbox_driver_api omap_mailbox_driver_api = {
+	.send = omap_mailbox_send,
+	.register_callback = omap_mailbox_register_callback,
+	.mtu_get = omap_mailbox_mtu_get,
+	.max_channels_get = omap_mailbox_max_channels_get,
+	.set_enabled = omap_mailbox_set_enabled,
+};
+
+#define MAILBOX_INSTANCE_DEFINE(idx)								\
+	static struct omap_mailbox_data omap_mailbox_##idx##_data;				\
+	const static struct omap_mailbox_config omap_mailbox_##idx##_config = {			\
+		DEVICE_MMIO_NAMED_ROM_INIT(reg_base, DT_DRV_INST(idx)),				\
+		.irq = DT_INST_IRQN(idx),							\
+		.usr_id = DT_INST_PROP(idx, usr_id),						\
+	};											\
+	static int omap_mailbox_##idx##_init(const struct device *dev)				\
+	{											\
+		DEVICE_MMIO_NAMED_MAP(dev, reg_base, K_MEM_CACHE_NONE);				\
+		IRQ_CONNECT(DT_INST_IRQN(idx), DT_INST_IRQ(idx, priority), omap_mailbox_isr,	\
+			    DEVICE_DT_INST_GET(idx),						\
+			    COND_CODE_1(DT_INST_IRQ_HAS_CELL(idx, flags),			\
+					(DT_INST_IRQ(idx, flags)), (0)));			\
+		return 0;									\
+	}											\
+	DEVICE_DT_INST_DEFINE(idx, omap_mailbox_##idx##_init, NULL, &omap_mailbox_##idx##_data,	\
+			      &omap_mailbox_##idx##_config, POST_KERNEL,	\
+			      CONFIG_MBOX_INIT_PRIORITY, &omap_mailbox_driver_api)
+
+DT_INST_FOREACH_STATUS_OKAY(MAILBOX_INSTANCE_DEFINE)
diff --git a/dts/bindings/mbox/ti,omap-mailbox.yaml b/dts/bindings/mbox/ti,omap-mailbox.yaml
new file mode 100644
index 00000000000..1dd6d64b552
--- /dev/null
+++ b/dts/bindings/mbox/ti,omap-mailbox.yaml
@@ -0,0 +1,23 @@
+# Copyright 2024 Texas Instruments Incorporated.
+# SPDX-License-Identifier: Apache-2.0
+
+description: TI OMAP MAILBOX
+
+compatible: "ti,omap-mailbox"
+
+include: [base.yaml, mailbox-controller.yaml]
+
+properties:
+  reg:
+    required: true
+
+  interrupts:
+    required: true
+
+  usr-id:
+    type: int
+    required: true
+    description: User ID for processor
+
+mbox-cells:
+  - channel