diff --git a/MAINTAINERS b/MAINTAINERS
index e9659a5a7fb3..1f8182473be1 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -19481,6 +19481,7 @@ F:	Documentation/staging/remoteproc.rst
 F:	drivers/remoteproc/
 F:	include/linux/remoteproc.h
 F:	include/linux/remoteproc/
+F:	tools/testing/selftests/remoteproc/

 REMOTE PROCESSOR MESSAGING (RPMSG) SUBSYSTEM
 M:	Bjorn Andersson <andersson@kernel.org>
diff --git a/tools/testing/selftests/Makefile b/tools/testing/selftests/Makefile
index 363d031a16f7..78669153be90 100644
--- a/tools/testing/selftests/Makefile
+++ b/tools/testing/selftests/Makefile
@@ -82,6 +82,7 @@ TARGETS += proc
 TARGETS += pstore
 TARGETS += ptrace
 TARGETS += openat2
+TARGETS += remoteproc
 TARGETS += resctrl
 TARGETS += riscv
 TARGETS += rlimits
diff --git a/tools/testing/selftests/remoteproc/Makefile b/tools/testing/selftests/remoteproc/Makefile
new file mode 100644
index 000000000000..a84b3934fd36
--- /dev/null
+++ b/tools/testing/selftests/remoteproc/Makefile
@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: GPL-2.0
+TEST_PROGS := remoteproc_test.sh
+
+include ../lib.mk
diff --git a/tools/testing/selftests/remoteproc/config b/tools/testing/selftests/remoteproc/config
new file mode 100644
index 000000000000..a5c237d2f3b4
--- /dev/null
+++ b/tools/testing/selftests/remoteproc/config
@@ -0,0 +1 @@
+CONFIG_REMOTEPROC=y
diff --git a/tools/testing/selftests/remoteproc/remoteproc_test.sh b/tools/testing/selftests/remoteproc/remoteproc_test.sh
new file mode 100644
index 000000000000..d58c1e10005c
--- /dev/null
+++ b/tools/testing/selftests/remoteproc/remoteproc_test.sh
@@ -0,0 +1,157 @@
+#!/bin/sh
+# SPDX-License-Identifier: GPL-2.0
+#
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+#
+
+DIR="$(dirname $(readlink -f "$0"))"
+
+KTAP_HELPERS="${DIR}/../kselftest/ktap_helpers.sh"
+if [ -e "$KTAP_HELPERS" ]; then
+    . "$KTAP_HELPERS"
+else
+    echo -n "1..0 # SKIP $KTAP_HELPERS file not found"
+    exit 4
+fi
+
+RPROC_SYS=/sys/class/remoteproc
+RPROC_SEQ_SLEEP=5
+
+rproc_instances=
+num_tests=0
+test_err=0
+
+check_error() {
+	if [ $? -ne 0 ]; then
+		test_err=$((test_err+1))
+		ktap_print_msg "$@"
+	fi
+}
+
+parse_args() {
+	script=${0##*/}
+
+	if [ $# -eq 2 ] && [ "$1" = "--seqdelay" ]; then
+		shift || true
+		RPROC_SEQ_SLEEP=$1
+	else
+		ktap_print_msg "Usage: ${script} --seqdelay <time in secs>"
+		ktap_print_msg "Proceed with default sequence delay = $RPROC_SEQ_SLEEP"
+	fi
+}
+
+rproc_stop_instances() {
+	for instance in ${rproc_instances}; do
+		rproc=${RPROC_SYS}/$instance
+		rproc_name=$(cat $rproc/name)
+		rproc_state=$(cat $rproc/state)
+
+		echo stop > "$rproc/state"
+		check_error "$rproc_name state-stop failed at state $rproc_state"
+	done
+	sleep ${RPROC_SEQ_SLEEP}
+}
+
+rproc_start_instances() {
+	for instance in ${rproc_instances}; do
+		rproc=${RPROC_SYS}/$instance
+		rproc_name=$(cat $rproc/name)
+		rproc_state=$(cat $rproc/state)
+
+		echo start > "$rproc/state"
+		check_error "$rproc_name state-start failed at state $rproc_state"
+	done
+	sleep ${RPROC_SEQ_SLEEP}
+}
+
+rproc_seq_test_instance_one() {
+	instance=$1
+	rproc=${RPROC_SYS}/$instance
+	rproc_name=$(cat $rproc/name)
+	rproc_state=$(cat $rproc/state)
+	ktap_print_msg "Testing rproc sequence for $rproc_name"
+
+	# Reset test_err value
+	test_err=0
+
+	# Begin start/stop sequence
+	echo start > "$rproc/state"
+	check_error "$rproc_name state-start failed at state $rproc_state"
+
+	sleep ${RPROC_SEQ_SLEEP}
+
+	echo stop > "$rproc/state"
+	check_error "$rproc_name state-stop failed at state $rproc_state"
+
+	if [ $test_err -ne 0 ]; then
+		ktap_test_fail "$rproc_name"
+	else
+		ktap_test_pass "$rproc_name"
+	fi
+}
+
+rproc_seq_test_instances_concurrently() {
+	# Reset test_err value
+	test_err=0
+
+	rproc_start_instances
+
+	rproc_stop_instances
+
+	if [ $test_err -ne 0 ]; then
+		ktap_test_fail "for any of $rproc_instances"
+	else
+		ktap_test_pass "for all $rproc_instances"
+	fi
+}
+
+#################################
+### Test starts here
+#################################
+
+ktap_print_header
+
+# Parse user arguments
+parse_args $@
+
+# Check for required sysfs entries
+if [ ! -d "${RPROC_SYS}" ]; then
+	ktap_skip_all "${RPROC_SYS} doesn't exist."
+	exit "${KSFT_SKIP}"
+fi
+
+rproc_instances=$(find ${RPROC_SYS}/remoteproc* -maxdepth 1 -exec basename {} \;)
+num_tests=$(echo ${rproc_instances} | wc -w)
+if [ "${num_tests}" -eq 0 ]; then
+	ktap_skip_all "${RPROC_SYS}/remoteproc* doesn't exist."
+	exit "${KSFT_SKIP}"
+fi
+
+# Total tests will be:
+# 1) Seq tests for each instance sequencially
+# 2) Seq tests for all instances concurrently
+num_tests=$((num_tests+1))
+
+ktap_set_plan "${num_tests}"
+
+### Stop all instances
+#
+# Intention is to stop all running instances. If any instances are not yet
+# started it will be don't care case as test_err is not checked.
+# NOTE: Assuming no instances are in crashed state
+rproc_stop_instances
+
+### Test 1
+ktap_print_msg "Testing rproc start/stop sequence for each instance sequencially"
+for instance in ${rproc_instances}; do
+	rproc_seq_test_instance_one $instance
+done
+
+### Test 2
+ktap_print_msg "Testing rproc start/stop sequence for all instances concurrently"
+rproc_seq_test_instances_concurrently
+
+### Restore all instances
+rproc_start_instances
+
+ktap_finished
