diff --git a/arch/arm64/boot/dts/ti/k3-am642-evm.dts b/arch/arm64/boot/dts/ti/k3-am642-evm.dts
index 8c5651d2cf5d..04d1c0602d31 100644
--- a/arch/arm64/boot/dts/ti/k3-am642-evm.dts
+++ b/arch/arm64/boot/dts/ti/k3-am642-evm.dts
@@ -34,6 +34,11 @@ aliases {
 		ethernet1 = &cpsw_port2;
 	};
 
+	aliases {
+		ethernet2 = &icssg1_emac0;
+		ethernet3 = &icssg1_emac1;
+	};
+
 	memory@80000000 {
 		bootph-all;
 		device_type = "memory";
@@ -229,6 +234,70 @@ transceiver2: can-phy1 {
 		max-bitrate = <5000000>;
 		standby-gpios = <&exp1 9 GPIO_ACTIVE_HIGH>;
 	};
+
+	icssg1_eth: icssg1-eth {
+		compatible = "ti,am642-icssg-prueth";
+		pinctrl-names = "default";
+		pinctrl-0 = <&icssg1_rgmii1_pins_default>;
+
+		sram = <&oc_sram>;
+		ti,prus = <&pru1_0>, <&rtu1_0>, <&tx_pru1_0>, <&pru1_1>, <&rtu1_1>, <&tx_pru1_1>;
+		firmware-name = "ti-pruss/am65x-sr2-pru0-prueth-fw.elf",
+				"ti-pruss/am65x-sr2-rtu0-prueth-fw.elf",
+				"ti-pruss/am65x-sr2-txpru0-prueth-fw.elf",
+				"ti-pruss/am65x-sr2-pru1-prueth-fw.elf",
+				"ti-pruss/am65x-sr2-rtu1-prueth-fw.elf",
+				"ti-pruss/am65x-sr2-txpru1-prueth-fw.elf";
+
+		ti,pruss-gp-mux-sel = <2>,	/* MII mode */
+				      <2>,
+				      <2>,
+				      <2>,	/* MII mode */
+				      <2>,
+				      <2>;
+
+		ti,mii-g-rt = <&icssg1_mii_g_rt>;
+		ti,mii-rt = <&icssg1_mii_rt>;
+		ti,iep = <&icssg1_iep0>,  <&icssg1_iep1>;
+
+		interrupt-parent = <&icssg1_intc>;
+		interrupts = <24 0 2>, <25 1 3>;
+		interrupt-names = "tx_ts0", "tx_ts1";
+
+		dmas = <&main_pktdma 0xc200 15>, /* egress slice 0 */
+		       <&main_pktdma 0xc201 15>, /* egress slice 0 */
+		       <&main_pktdma 0xc202 15>, /* egress slice 0 */
+		       <&main_pktdma 0xc203 15>, /* egress slice 0 */
+		       <&main_pktdma 0xc204 15>, /* egress slice 1 */
+		       <&main_pktdma 0xc205 15>, /* egress slice 1 */
+		       <&main_pktdma 0xc206 15>, /* egress slice 1 */
+		       <&main_pktdma 0xc207 15>, /* egress slice 1 */
+		       <&main_pktdma 0x4200 15>, /* ingress slice 0 */
+		       <&main_pktdma 0x4201 15>; /* ingress slice 1 */
+		dma-names = "tx0-0", "tx0-1", "tx0-2", "tx0-3",
+			    "tx1-0", "tx1-1", "tx1-2", "tx1-3",
+			    "rx0", "rx1";
+
+		ethernet-ports {
+			#address-cells = <1>;
+			#size-cells = <0>;
+			icssg1_emac0: port@0 {
+				reg = <0>;
+				phy-handle = <&icssg1_phy1>;
+				phy-mode = "rgmii-id";
+				ti,syscon-rgmii-delay = <&main_conf 0x4110>;
+				/* Filled in by bootloader */
+				local-mac-address = [00 00 00 00 00 00];
+			};
+			icssg1_emac1: port@1 {
+				reg = <1>;
+				ti,syscon-rgmii-delay = <&main_conf 0x4114>;
+				/* Filled in by bootloader */
+				local-mac-address = [00 00 00 00 00 00];
+				status = "disabled";
+			};
+		};
+	};
 };
 
 &main_pmx0 {
@@ -383,6 +452,30 @@ ddr_vtt_pins_default: ddr-vtt-default-pins {
 			AM64X_IOPAD(0x0030, PIN_OUTPUT_PULLUP, 7) /* (L18) OSPI0_CSN1.GPIO0_12 */
 		>;
 	};
+
+	icssg1_mdio1_pins_default: icssg1-mdio1-default-pins {
+		pinctrl-single,pins = <
+			AM64X_IOPAD(0x015c, PIN_OUTPUT, 0) /* (Y6) PRG1_MDIO0_MDC */
+			AM64X_IOPAD(0x0158, PIN_INPUT, 0) /* (AA6) PRG1_MDIO0_MDIO */
+		>;
+	};
+
+	icssg1_rgmii1_pins_default: icssg1-rgmii1-default-pins{
+		pinctrl-single,pins = <
+			AM64X_IOPAD(0x00b8, PIN_INPUT, 2) /* (Y7) PRG1_PRU0_GPO0.PRG1_RGMII1_RD0 */
+			AM64X_IOPAD(0x00bc, PIN_INPUT, 2) /* (U8) PRG1_PRU0_GPO1.PRG1_RGMII1_RD1 */
+			AM64X_IOPAD(0x00c0, PIN_INPUT, 2) /* (W8) PRG1_PRU0_GPO2.PRG1_RGMII1_RD2 */
+			AM64X_IOPAD(0x00c4, PIN_INPUT, 2) /* (V8) PRG1_PRU0_GPO3.PRG1_RGMII1_RD3 */
+			AM64X_IOPAD(0x00d0, PIN_INPUT, 2) /* (AA7) PRG1_PRU0_GPO6.PRG1_RGMII1_RXC */
+			AM64X_IOPAD(0x00c8, PIN_INPUT, 2) /* (Y8) PRG1_PRU0_GPO4.PRG1_RGMII1_RX_CTL */
+			AM64X_IOPAD(0x00e4, PIN_INPUT, 2) /* (AA8) PRG1_PRU0_GPO11.PRG1_RGMII1_TD0 */
+			AM64X_IOPAD(0x00e8, PIN_INPUT, 2) /* (U9) PRG1_PRU0_GPO12.PRG1_RGMII1_TD1 */
+			AM64X_IOPAD(0x00ec, PIN_INPUT, 2) /* (W9) PRG1_PRU0_GPO13.PRG1_RGMII1_TD2 */
+			AM64X_IOPAD(0x00f0, PIN_INPUT, 2) /* (AA9) PRG1_PRU0_GPO14.PRG1_RGMII1_TD3 */
+			AM64X_IOPAD(0x00f8, PIN_INPUT, 2) /* (V9) PRG1_PRU0_GPO16.PRG1_RGMII1_TXC */
+			AM64X_IOPAD(0x00f4, PIN_INPUT, 2) /* (Y9) PRG1_PRU0_GPO15.PRG1_RGMII1_TX_CTL */
+		>;
+	};
 };
 
 &main_uart0 {
@@ -731,3 +824,15 @@ &main_mcan1 {
 	pinctrl-0 = <&main_mcan1_pins_default>;
 	phys = <&transceiver2>;
 };
+
+&icssg1_mdio {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&icssg1_mdio1_pins_default>;
+
+	icssg1_phy1: ethernet-phy@0 {
+		reg = <0xf>;
+		tx-internal-delay-ps = <250>;
+		rx-internal-delay-ps = <2000>;
+	};
+};
