diff --git a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0-pinctrl.dtsi b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0-pinctrl.dtsi
index dfc744b72e4a126..9cf1363ba226f5a 100644
--- a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0-pinctrl.dtsi
+++ b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0-pinctrl.dtsi
@@ -18,4 +18,12 @@
 		/* 0x14 is address of padconfig register of p8.22 and 14 is mux mode */
 		pinmux = <K3_PINMUX(0x14, PIN_INPUT, MUX_MODE_14)>;
 	};
+	i2c6_scl_default: i2c6_scl_default {
+		/* 0x1e0 is the address of padconfig register of p9.17 and 2 is mux mode */
+		pinmux = <K3_PINMUX(0x1d0, PIN_INPUT_PULLUP, MUX_MODE_2)>;
+	};
+	i2c6_sda_default: i2c6_sda_default {
+		/* 0x1dc is the address of padconfig register of p9.18 and 2 is mux mode */
+		pinmux = <K3_PINMUX(0x1e4, PIN_INPUT_PULLUP, MUX_MODE_2)>;
+	};
 };
diff --git a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.dts b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.dts
index 8c4c8f0e8e4c949..804abfd95660a8c 100644
--- a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.dts
+++ b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.dts
@@ -45,6 +45,12 @@
 	};
 };
 
+&i2c6 {
+	status = "okay";
+	pinctrl-0 = <&i2c6_scl_default &i2c6_sda_default>;
+	pinctrl-names = "default";
+};
+
 &uart2 {
 	status = "okay";
 	pinctrl-0 = <&uart2_tx_default &uart2_rx_default>;
diff --git a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.yaml b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.yaml
index 0adaeddf82f47d4..cecfa78f603d585 100644
--- a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.yaml
+++ b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0.yaml
@@ -14,4 +14,5 @@ toolchain:
   - xtools
 supported:
   - uart
+  - i2c
 vendor: beagle
diff --git a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0_defconfig b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0_defconfig
index 244755fe3c965ff..4a2022de2a5436d 100644
--- a/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0_defconfig
+++ b/boards/beagle/beaglebone_ai64/beaglebone_ai64_j721e_main_r5f0_0_defconfig
@@ -13,3 +13,6 @@ CONFIG_UART_INTERRUPT_DRIVEN=y
 # Enable Console
 CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
+
+# Enable I2C
+CONFIG_I2C=y
diff --git a/boards/beagle/beaglebone_ai64/doc/index.rst b/boards/beagle/beaglebone_ai64/doc/index.rst
index d54775011dbd561..3e62a1ad54a7aa7 100644
--- a/boards/beagle/beaglebone_ai64/doc/index.rst
+++ b/boards/beagle/beaglebone_ai64/doc/index.rst
@@ -44,9 +44,11 @@ The board configuration supports,
 +-----------+------------+-----------------------+
 | Interface | Controller | Driver/Component      |
 +===========+============+=======================+
-| UART      | on-chip    | serial port-polling   |
+| UART      | on-chip    | serial port-polling,  |
 |           |            | serial port-interrupt |
 +-----------+------------+-----------------------+
+| I2C       | on-chip    | i2c-polling           |
++-----------+------------+-----------------------+
 
 Other hardwares features are currently not supported.
 
diff --git a/dts/arm/ti/j721e_main_r5.dtsi b/dts/arm/ti/j721e_main_r5.dtsi
index 7b8f72ba5aed137..e088321e9664d35 100644
--- a/dts/arm/ti/j721e_main_r5.dtsi
+++ b/dts/arm/ti/j721e_main_r5.dtsi
@@ -55,6 +55,83 @@
 		status = "okay";
 	};
 
+	i2c0: i2c0@2000000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02000000 0x1000>;
+		interrupts = <0 150 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
+	i2c1: i2c1@2010000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02010000 0x1000>;
+		interrupts = <0 151 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
+	i2c2: i2c2@2020000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02020000 0x1000>;
+		interrupts = <0 183 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
+	i2c3: i2c3@2030000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02030000 0x1000>;
+		interrupts = <0 184 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
+	i2c4: i2c4@2040000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02040000 0x1000>;
+		interrupts = <0 185 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
+	i2c5: i2c5@2050000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02050000 0x1000>;
+		interrupts = <0 186 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
+	i2c6: i2c@2060000 {
+		compatible = "ti,omap-i2c";
+		reg = <0x02060000 0x1000>;
+		interrupts = <0 187 IRQ_TYPE_LEVEL IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&vim>;
+		clock-frequency = <100000>;
+		#address-cells = <1>;
+		#size-cells = <0>;
+		status = "disabled";
+	};
+
 	uart1: uart@2810000 {
 		compatible = "ns16550";
 		reg = <0x02810000 0x100>;