diff --git a/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
new file mode 100644
index 000000000000..64b69442f08e
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
@@ -0,0 +1,12 @@
+ST's VL53L0X ToF ranging sensor
+
+Required properties:
+	- compatible: must be "st,vl53l0x-i2c"
+	- reg: i2c address where to find the device
+
+Example:
+
+vl53l0x@29 {
+	compatible = "st,vl53l0x-i2c";
+	reg = <0x29>;
+};
diff --git a/MAINTAINERS b/MAINTAINERS
index 967ce8cdd1cc..a35d80e63506 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -13510,6 +13510,13 @@ L:	linux-i2c@vger.kernel.org
 S:	Maintained
 F:	drivers/i2c/busses/i2c-stm32*
 
+ST VL53L0X ToF RANGER(I2C) IIO DRIVER
+M:	Song Qiang <songqiang.1304521@gmail.com>
+L:	linux-iio@vger.kernel.org
+S:	Maintained
+F:	drivers/iio/proximity/vl53l0x-i2c.c
+F:	Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
+
 STABLE BRANCH
 M:	Greg Kroah-Hartman <gregkh@linuxfoundation.org>
 L:	stable@vger.kernel.org
diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
index f726f9427602..5f421cbd37f3 100644
--- a/drivers/iio/proximity/Kconfig
+++ b/drivers/iio/proximity/Kconfig
@@ -79,4 +79,15 @@ config SRF08
 	  To compile this driver as a module, choose M here: the
 	  module will be called srf08.
 
+config VL53L0X_I2C
+	tristate "STMicroelectronics VL53L0X ToF ranger sensor (I2C)"
+	depends on I2C
+	help
+	  Say Y here to build a driver for STMicroelectronics VL53L0X
+	  ToF ranger sensors with i2c interface.
+	  This driver can be used to measure the distance of objects.
+
+	  To compile this driver as a module, choose M here: the
+	  module will be called vl53l0x-i2c.
+
 endmenu
diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
index 4f4ed45e87ef..dedfb5bf3475 100644
--- a/drivers/iio/proximity/Makefile
+++ b/drivers/iio/proximity/Makefile
@@ -10,3 +10,5 @@ obj-$(CONFIG_RFD77402)		+= rfd77402.o
 obj-$(CONFIG_SRF04)		+= srf04.o
 obj-$(CONFIG_SRF08)		+= srf08.o
 obj-$(CONFIG_SX9500)		+= sx9500.o
+obj-$(CONFIG_VL53L0X_I2C)	+= vl53l0x-i2c.o
+
diff --git a/drivers/iio/proximity/vl53l0x-i2c.c b/drivers/iio/proximity/vl53l0x-i2c.c
new file mode 100644
index 000000000000..9f0357231a36
--- /dev/null
+++ b/drivers/iio/proximity/vl53l0x-i2c.c
@@ -0,0 +1,178 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Support for ST's VL53L0X FlightSense ToF Ranger Sensor on a i2c bus.
+ *
+ * Copyright (C) 2016 STMicroelectronics Imaging Division.
+ * Copyright (C) 2018 Song Qiang <songqiang.1304521@gmail.com>
+ *
+ * Datasheet available at
+ * <https://www.st.com/resource/en/datasheet/vl53l0x.pdf>
+ * Default 7-bit I2C slave address 0x29.
+ *
+ * TODO: FIFO buffer, continuous mode, interrupts, range selection.
+ */
+
+#include <linux/delay.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+
+#define VL53L0X_DRV_NAME				"vl53l0x-i2c"
+
+#define VL_REG_SYSRANGE_MODE_MASK			GENMASK(3, 0)
+#define VL_REG_SYSRANGE_START				0x00
+#define VL_REG_SYSRANGE_MODE_SINGLESHOT			0x00
+#define VL_REG_SYSRANGE_MODE_START_STOP			BIT(0)
+#define VL_REG_SYSRANGE_MODE_BACKTOBACK			BIT(1)
+#define VL_REG_SYSRANGE_MODE_TIMED			BIT(2)
+#define VL_REG_SYSRANGE_MODE_HISTOGRAM			BIT(3)
+
+#define VL_REG_SYS_SEQUENCE_CFG				BIT(0)
+#define VL_REG_SYS_INTERMEASUREMENT_PERIOD		BIT(2)
+#define VL_REG_SYS_RANGE_CFG				0x09
+
+#define VL_REG_SYS_INT_GPIO_DISABLED			0x00
+#define VL_REG_SYS_INT_GPIO_LEVEL_LOW			BIT(0)
+#define VL_REG_SYS_INT_GPIO_LEVEL_HIGH			BIT(1)
+#define VL_REG_SYS_INT_GPIO_OUT_OF_WINDOW		0x03
+#define VL_REG_SYS_INT_GPIO_NEW_SAMPLE_READY		BIT(2)
+#define VL_REG_SYS_INT_CFG_GPIO				0x0A
+#define VL_REG_SYS_INT_CLEAR				0x0B
+#define VL_REG_GPIO_HV_MUX_ACTIVE_HIGH			0x84
+
+#define VL_REG_RESULT_INT_STATUS			0x13
+#define VL_REG_RESULT_RANGE_STATUS			0x14
+#define VL_REG_RESULT_RANGE_SATTUS_COMPLETE		BIT(0)
+
+#define VL_REG_I2C_SLAVE_DEVICE_ADDRESS			0x8A
+
+#define VL_REG_IDENTIFICATION_MODEL_ID			0xC0
+#define VL_REG_IDENTIFICATION_REVISION_ID		0xC2
+
+struct vl53l0x_data {
+	struct i2c_client *client;
+};
+
+static int vl53l0x_read_proximity(struct vl53l0x_data *data,
+				  const struct iio_chan_spec *chan,
+				  int *val)
+{
+	struct i2c_client *client = data->client;
+	unsigned int tries = 20;
+	u8 buffer[12];
+	int ret;
+
+	ret = i2c_smbus_write_byte_data(client,
+					VL_REG_SYSRANGE_START, 1);
+	if (ret < 0)
+		return ret;
+
+	do {
+		ret = i2c_smbus_read_byte_data(client,
+					       VL_REG_RESULT_RANGE_STATUS);
+		if (ret < 0)
+			return ret;
+
+		if (ret & VL_REG_RESULT_RANGE_SATTUS_COMPLETE)
+			break;
+
+		usleep_range(1000, 5000);
+	} while (tries--);
+	if (!tries)
+		return -ETIMEDOUT;
+
+	ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS,
+		12, buffer);
+	if (ret < 0)
+		return ret;
+	else if (ret != 12)
+		return -EREMOTEIO;
+
+	*val = le16_to_cpu((buffer[10] << 8) + buffer[11]);
+
+	return 0;
+}
+
+static const struct iio_chan_spec vl53l0x_channels[] = {
+	{
+		.type = IIO_DISTANCE,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
+	},
+};
+
+static int vl53l0x_read_raw(struct iio_dev *indio_dev,
+			    const struct iio_chan_spec *chan,
+			    int *val, int *val2, long mask)
+{
+	struct vl53l0x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_DISTANCE) {
+		dev_err(&data->client->dev, "iio type error");
+		return -EINVAL;
+	}
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = vl53l0x_read_proximity(data, chan, val);
+		if (ret < 0)
+			dev_err(&data->client->dev,
+				"raw value read error with %d", ret);
+
+		return IIO_VAL_INT;
+	default:
+		dev_err(&data->client->dev, "IIO_CHAN_* not recognzed.");
+		return -EINVAL;
+	}
+}
+
+static const struct iio_info vl53l0x_info = {
+	.read_raw = vl53l0x_read_raw,
+};
+
+static int vl53l0x_probe(struct i2c_client *client)
+{
+	struct vl53l0x_data *data;
+	struct iio_dev *indio_dev;
+
+	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	data->client = client;
+	i2c_set_clientdata(client, indio_dev);
+
+	if (!i2c_check_functionality(client->adapter,
+				     I2C_FUNC_SMBUS_BYTE_DATA | I2C_FUNC_I2C))
+		return -EOPNOTSUPP;
+
+	indio_dev->dev.parent = &client->dev;
+	indio_dev->name = VL53L0X_DRV_NAME;
+	indio_dev->info = &vl53l0x_info;
+	indio_dev->channels = vl53l0x_channels;
+	indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels);
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	return devm_iio_device_register(&client->dev, indio_dev);
+}
+
+static const struct of_device_id st_vl53l0x_dt_match[] = {
+	{ .compatible = "st,vl53l0x-i2c", },
+	{ }
+};
+
+static struct i2c_driver vl53l0x_driver = {
+	.driver = {
+		.name = VL53L0X_DRV_NAME,
+		.of_match_table = st_vl53l0x_dt_match,
+	},
+	.probe_new = vl53l0x_probe,
+};
+module_i2c_driver(vl53l0x_driver);
+
+MODULE_AUTHOR("Song Qiang <songqiang.1304521@gmail.com>");
+MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor");
+MODULE_LICENSE("GPL");
