diff --git a/drivers/iio/imu/st_lsm6dsx/Kconfig b/drivers/iio/imu/st_lsm6dsx/Kconfig
index 9e592973a8a6..b254d03e2043 100644
--- a/drivers/iio/imu/st_lsm6dsx/Kconfig
+++ b/drivers/iio/imu/st_lsm6dsx/Kconfig
@@ -9,7 +9,7 @@ config IIO_ST_LSM6DSX
 	help
 	  Say yes here to build support for STMicroelectronics LSM6DSx imu
 	  sensor. Supported devices: lsm6ds3, lsm6ds3h, lsm6dsl, lsm6dsm,
-	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh, lsm6dsr
+	  ism330dlc, lsm6dso, lsm6dsox, asm330lhh, lsm6dsr, lsm6ds3tr-c
 
 	  To compile this driver as a module, choose M here: the module
 	  will be called st_lsm6dsx.
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index cd1642bb4ec0..ffa8402763c5 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -23,6 +23,7 @@
 #define ST_ASM330LHH_DEV_NAME	"asm330lhh"
 #define ST_LSM6DSOX_DEV_NAME	"lsm6dsox"
 #define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
+#define ST_LSM6DS3TRC_DEV_NAME	"lsm6ds3tr-c"
 
 enum st_lsm6dsx_hw_id {
 	ST_LSM6DS3_ID,
@@ -34,6 +35,7 @@ enum st_lsm6dsx_hw_id {
 	ST_ASM330LHH_ID,
 	ST_LSM6DSOX_ID,
 	ST_LSM6DSR_ID,
+	ST_LSM6DS3TRC_ID,
 	ST_LSM6DSX_MAX_ID,
 };
 
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index 793598ee960a..61b20fa64108 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -1,10 +1,10 @@
 /*
  * STMicroelectronics st_lsm6dsx FIFO buffer library driver
  *
- * LSM6DS3/LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC: The FIFO buffer can be
- * configured to store data from gyroscope and accelerometer. Samples are
- * queued without any tag according to a specific pattern based on
- * 'FIFO data sets' (6 bytes each):
+ * LSM6DS3/LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC/LSM6DS3TR-C:
+ * The FIFO buffer can be configured to store data from gyroscope and
+ * accelerometer. Samples are queued without any tag according to a
+ * specific pattern based on 'FIFO data sets' (6 bytes each):
  *  - 1st data set is reserved for gyroscope data
  *  - 2nd data set is reserved for accelerometer data
  * The FIFO pattern changes depending on the ODRs and decimation factors
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 04233928d23e..dc479e139cfc 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -17,7 +17,7 @@
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
  *   - FIFO size: 8KB
  *
- * - LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC:
+ * - LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC/LSM6DS3TR-C:
  *   - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416
  *   - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
  *   - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
@@ -234,6 +234,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 			}, {
 				.hw_id = ST_ISM330DLC_ID,
 				.name = ST_ISM330DLC_DEV_NAME,
+			}, {
+				.hw_id = ST_LSM6DS3TRC_ID,
+				.name = ST_LSM6DS3TRC_DEV_NAME,
 			},
 		},
 		.decimator = {
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index 47581a4e456e..0542f64fb673 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -76,6 +76,10 @@ static const struct of_device_id st_lsm6dsx_i2c_of_match[] = {
 		.compatible = "st,lsm6dsr",
 		.data = (void *)ST_LSM6DSR_ID,
 	},
+	{
+		.compatible = "st,lsm6ds3tr-c",
+		.data = (void *)ST_LSM6DS3TRC_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_i2c_of_match);
@@ -90,6 +94,7 @@ static const struct i2c_device_id st_lsm6dsx_i2c_id_table[] = {
 	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
 	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
 	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
+	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(i2c, st_lsm6dsx_i2c_id_table);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
index facf66978a4b..4e160dcb0d7d 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -76,6 +76,10 @@ static const struct of_device_id st_lsm6dsx_spi_of_match[] = {
 		.compatible = "st,lsm6dsr",
 		.data = (void *)ST_LSM6DSR_ID,
 	},
+	{
+		.compatible = "st,lsm6ds3tr-c",
+		.data = (void *)ST_LSM6DS3TRC_ID,
+	},
 	{},
 };
 MODULE_DEVICE_TABLE(of, st_lsm6dsx_spi_of_match);
@@ -90,6 +94,7 @@ static const struct spi_device_id st_lsm6dsx_spi_id_table[] = {
 	{ ST_ASM330LHH_DEV_NAME, ST_ASM330LHH_ID },
 	{ ST_LSM6DSOX_DEV_NAME, ST_LSM6DSOX_ID },
 	{ ST_LSM6DSR_DEV_NAME, ST_LSM6DSR_ID },
+	{ ST_LSM6DS3TRC_DEV_NAME, ST_LSM6DS3TRC_ID },
 	{},
 };
 MODULE_DEVICE_TABLE(spi, st_lsm6dsx_spi_id_table);
