diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 8da4c8249aed..ca41a9d6404a 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -120,6 +120,7 @@ struct inv_icm42600_suspended {
  *  @orientation:	sensor chip orientation relative to main hardware.
  *  @conf:		chip sensors configurations.
  *  @suspended:		suspended sensors configuration.
+ *  @indio_gyro:	gyroscope IIO device.
  */
 struct inv_icm42600_state {
 	struct mutex lock;
@@ -131,6 +132,7 @@ struct inv_icm42600_state {
 	struct iio_mount_matrix orientation;
 	struct inv_icm42600_conf conf;
 	struct inv_icm42600_suspended suspended;
+	struct iio_dev *indio_gyro;
 };
 
 /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
@@ -369,4 +371,6 @@ int inv_icm42600_debugfs_reg(struct iio_dev *indio_dev, unsigned int reg,
 int inv_icm42600_core_probe(struct regmap *regmap, int chip,
 			    inv_icm42600_bus_setup bus_setup);
 
+int inv_icm42600_gyro_init(struct inv_icm42600_state *st);
+
 #endif
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index 35bdf4f9d31e..151257652ce6 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -503,6 +503,11 @@ int inv_icm42600_core_probe(struct regmap *regmap, int chip,
 	if (ret)
 		return ret;
 
+	/* create and init gyroscope iio device */
+	ret = inv_icm42600_gyro_init(st);
+	if (ret)
+		return ret;
+
 	/* setup runtime power management */
 	ret = pm_runtime_set_active(dev);
 	if (ret)
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
new file mode 100644
index 000000000000..74aa2b5fa611
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -0,0 +1,549 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/interrupt.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/iio/iio.h>
+
+#include "inv_icm42600.h"
+
+#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)		\
+	{								\
+		.type = IIO_ANGL_VEL,					\
+		.modified = 1,						\
+		.channel2 = _modifier,					\
+		.info_mask_separate =					\
+			BIT(IIO_CHAN_INFO_RAW) |			\
+			BIT(IIO_CHAN_INFO_CALIBBIAS),			\
+		.info_mask_shared_by_type =				\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.info_mask_shared_by_type_available =			\
+			BIT(IIO_CHAN_INFO_SCALE),			\
+		.info_mask_shared_by_all =				\
+			BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+		.info_mask_shared_by_all_available =			\
+			BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+		.scan_index = _index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = 16,					\
+			.storagebits = 16,				\
+			.shift = 0,					\
+			.endianness = IIO_BE,				\
+		},							\
+		.ext_info = _ext_info,					\
+	}
+
+enum inv_icm42600_gyro_scan {
+	INV_ICM42600_GYRO_SCAN_X,
+	INV_ICM42600_GYRO_SCAN_Y,
+	INV_ICM42600_GYRO_SCAN_Z,
+};
+
+static const struct iio_chan_spec_ext_info inv_icm42600_gyro_ext_infos[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, inv_icm42600_get_mount_matrix),
+	{},
+};
+
+static const struct iio_chan_spec inv_icm42600_gyro_channels[] = {
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_X, INV_ICM42600_GYRO_SCAN_X,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_Y, INV_ICM42600_GYRO_SCAN_Y,
+			       inv_icm42600_gyro_ext_infos),
+	INV_ICM42600_GYRO_CHAN(IIO_MOD_Z, INV_ICM42600_GYRO_SCAN_Z,
+			       inv_icm42600_gyro_ext_infos),
+};
+
+static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st,
+					 struct iio_chan_spec const *chan,
+					 int16_t *val)
+{
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int reg;
+	__be16 data;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_GYRO_DATA_X;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_GYRO_DATA_Y;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_GYRO_DATA_Z;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	/* enable gyro sensor */
+	conf.mode = INV_ICM42600_SENSOR_MODE_LOW_NOISE;
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	if (ret)
+		goto exit;
+
+	/* read gyro register data */
+	ret = regmap_bulk_read(st->map, reg, &data, sizeof(data));
+	if (ret)
+		goto exit;
+
+	*val = (int16_t)be16_to_cpu(data);
+	if (*val == INV_ICM42600_DATA_INVALID)
+		ret = -EINVAL;
+exit:
+	mutex_unlock(&st->lock);
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+/* IIO format int + nano */
+static const int inv_icm42600_gyro_scale[] = {
+	/* +/- 2000dps => 0.001065264 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_2000DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_2000DPS + 1] = 1065264,
+	/* +/- 1000dps => 0.000532632 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_1000DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_1000DPS + 1] = 532632,
+	/* +/- 500dps => 0.000266316 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_500DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_500DPS + 1] = 266316,
+	/* +/- 250dps => 0.000133158 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_250DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_250DPS + 1] = 133158,
+	/* +/- 125dps => 0.000066579 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_125DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_125DPS + 1] = 66579,
+	/* +/- 62.5dps => 0.000033290 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_62_5DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_62_5DPS + 1] = 33290,
+	/* +/- 31.25dps => 0.000016645 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_31_25DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_31_25DPS + 1] = 16645,
+	/* +/- 15.625dps => 0.000008322 rad/s */
+	[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
+	[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
+};
+
+static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+					int *val, int *val2)
+{
+	unsigned int idx;
+
+	mutex_lock(&st->lock);
+	idx = st->conf.gyro.fs;
+	mutex_unlock(&st->lock);
+
+	*val = inv_icm42600_gyro_scale[2 * idx];
+	*val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+	return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+					 int val, int val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	int ret;
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
+		if (val == inv_icm42600_gyro_scale[idx] &&
+				val2 == inv_icm42600_gyro_scale[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+		return -EINVAL;
+
+	/* update gyro fs */
+	pm_runtime_get_sync(dev);
+
+	mutex_lock(&st->lock);
+	conf.fs = idx / 2;
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	mutex_unlock(&st->lock);
+
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+/* IIO format int + micro */
+static const int inv_icm42600_gyro_odr[] = {
+	/* 12.5Hz */
+	12, 500000,
+	/* 25Hz */
+	25, 0,
+	/* 50Hz */
+	50, 0,
+	/* 100Hz */
+	100, 0,
+	/* 200Hz */
+	200, 0,
+	/* 1kHz */
+	1000, 0,
+	/* 2kHz */
+	2000, 0,
+	/* 4kHz */
+	4000, 0,
+};
+
+static const int inv_icm42600_gyro_odr_conv[] = {
+	INV_ICM42600_ODR_12_5HZ,
+	INV_ICM42600_ODR_25HZ,
+	INV_ICM42600_ODR_50HZ,
+	INV_ICM42600_ODR_100HZ,
+	INV_ICM42600_ODR_200HZ,
+	INV_ICM42600_ODR_1KHZ_LN,
+	INV_ICM42600_ODR_2KHZ_LN,
+	INV_ICM42600_ODR_4KHZ_LN,
+};
+
+static int inv_icm42600_gyro_read_odr(struct inv_icm42600_state *st,
+				      int *val, int *val2)
+{
+	unsigned int odr;
+	unsigned int i;
+
+	mutex_lock(&st->lock);
+	odr = st->conf.gyro.odr;
+	mutex_unlock(&st->lock);
+
+	for (i = 0; i < ARRAY_SIZE(inv_icm42600_gyro_odr_conv); ++i) {
+		if (inv_icm42600_gyro_odr_conv[i] == odr)
+			break;
+	}
+	if (i >= ARRAY_SIZE(inv_icm42600_gyro_odr_conv))
+		return -EINVAL;
+
+	*val = inv_icm42600_gyro_odr[2 * i];
+	*val2 = inv_icm42600_gyro_odr[2 * i + 1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_icm42600_gyro_write_odr(struct inv_icm42600_state *st,
+				       int val, int val2)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int idx;
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	int ret;
+
+	for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_odr); idx += 2) {
+		if (val == inv_icm42600_gyro_odr[idx] &&
+				val2 == inv_icm42600_gyro_odr[idx + 1])
+			break;
+	}
+	if (idx >= ARRAY_SIZE(inv_icm42600_gyro_odr))
+		return -EINVAL;
+
+	/* update gyro odr */
+	pm_runtime_get_sync(dev);
+
+	mutex_lock(&st->lock);
+	conf.odr = inv_icm42600_gyro_odr_conv[idx / 2];
+	ret = inv_icm42600_set_gyro_conf(st, &conf, NULL);
+	mutex_unlock(&st->lock);
+
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+static int inv_icm42600_gyro_read_offset(struct inv_icm42600_state *st,
+					 struct iio_chan_spec const *chan,
+					 int16_t *val)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int reg;
+	uint8_t data[2];
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_OFFSET_USER0;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_OFFSET_USER1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_OFFSET_USER3;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	pm_runtime_get_sync(dev);
+
+	/* read gyro offset data */
+	mutex_lock(&st->lock);
+	ret = regmap_bulk_read(st->map, reg, &data, sizeof(data));
+	mutex_unlock(&st->lock);
+	if (ret)
+		goto exit;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		*val = (int16_t)(((data[1] & 0x0F) << 8) | data[0]);
+		break;
+	case IIO_MOD_Y:
+		*val = (int16_t)(((data[0] & 0xF0) << 4) | data[1]);
+		break;
+	case IIO_MOD_Z:
+		*val = (int16_t)(((data[1] & 0x0F) << 8) | data[0]);
+		break;
+	default:
+		ret = -EINVAL;
+		break;
+	}
+
+exit:
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+static int inv_icm42600_gyro_write_offset(struct inv_icm42600_state *st,
+					  struct iio_chan_spec const *chan,
+					  int val)
+{
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int reg, regval;
+	uint8_t data[2];
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		reg = INV_ICM42600_REG_OFFSET_USER0;
+		break;
+	case IIO_MOD_Y:
+		reg = INV_ICM42600_REG_OFFSET_USER1;
+		break;
+	case IIO_MOD_Z:
+		reg = INV_ICM42600_REG_OFFSET_USER3;
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	/* value is limited to 12 bits signed */
+	if (val < -2048 || val > 2047)
+		return -EINVAL;
+
+	pm_runtime_get_sync(dev);
+	mutex_lock(&st->lock);
+
+	switch (chan->channel2) {
+	case IIO_MOD_X:
+		/* OFFSET_USER1 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		data[0] = val & 0xFF;
+		data[1] = (regval & 0xF0) | ((val & 0xF00) >> 8);
+		break;
+	case IIO_MOD_Y:
+		/* OFFSET_USER1 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER1,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		data[0] = ((val & 0xF00) >> 4) | (regval & 0x0F);
+		data[1] = val & 0xFF;
+		break;
+	case IIO_MOD_Z:
+		/* OFFSET_USER4 register is shared */
+		ret = regmap_read(st->map, INV_ICM42600_REG_OFFSET_USER4,
+				  &regval);
+		if (ret)
+			goto out_unlock;
+		data[0] = val & 0xFF;
+		data[1] = (regval & 0xF0) | ((val & 0xF00) >> 8);
+		break;
+	default:
+		ret = -EINVAL;
+		goto out_unlock;
+	}
+
+	ret = regmap_bulk_write(st->map, reg, data, sizeof(data));
+
+out_unlock:
+	mutex_unlock(&st->lock);
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+	return ret;
+}
+
+static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
+				      struct iio_chan_spec const *chan,
+				      int *val, int *val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int16_t data;
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_read_sensor(st, chan, &data);
+		iio_device_release_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		*val = data;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		return inv_icm42600_gyro_read_scale(st, val, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42600_gyro_read_odr(st, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_read_offset(st, chan, &data);
+		iio_device_release_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		*val = data;
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
+					struct iio_chan_spec const *chan,
+					const int **vals,
+					int *type, int *length, long mask)
+{
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		*vals = inv_icm42600_gyro_scale;
+		*type = IIO_VAL_INT_PLUS_NANO;
+		*length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+		return IIO_AVAIL_LIST;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*vals = inv_icm42600_gyro_odr;
+		*type = IIO_VAL_INT_PLUS_MICRO;
+		*length = ARRAY_SIZE(inv_icm42600_gyro_odr);
+		return IIO_AVAIL_LIST;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
+				       struct iio_chan_spec const *chan,
+				       int val, int val2, long mask)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_write_scale(st, val, val2);
+		iio_device_release_direct_mode(indio_dev);
+		return ret;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return inv_icm42600_gyro_write_odr(st, val, val2);
+	case IIO_CHAN_INFO_CALIBBIAS:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = inv_icm42600_gyro_write_offset(st, chan, val);
+		iio_device_release_direct_mode(indio_dev);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_icm42600_gyro_write_raw_get_fmt(struct iio_dev *indio_dev,
+					       struct iio_chan_spec const *chan,
+					       long mask)
+{
+	if (chan->type != IIO_ANGL_VEL)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return IIO_VAL_INT_PLUS_NANO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}
+
+static const struct iio_info inv_icm42600_gyro_info = {
+	.read_raw = inv_icm42600_gyro_read_raw,
+	.read_avail = inv_icm42600_gyro_read_avail,
+	.write_raw = inv_icm42600_gyro_write_raw,
+	.write_raw_get_fmt = inv_icm42600_gyro_write_raw_get_fmt,
+	.debugfs_reg_access = inv_icm42600_debugfs_reg,
+};
+
+int inv_icm42600_gyro_init(struct inv_icm42600_state *st)
+{
+	struct device *dev = regmap_get_device(st->map);
+	const char *name;
+	struct iio_dev *indio_dev;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name);
+	if (!name)
+		return -ENOMEM;
+
+	indio_dev = devm_iio_device_alloc(dev, 0);
+	if (!indio_dev)
+		return -ENOMEM;
+
+	iio_device_set_drvdata(indio_dev, st);
+	indio_dev->dev.parent = dev;
+	indio_dev->name = name;
+	indio_dev->info = &inv_icm42600_gyro_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels = inv_icm42600_gyro_channels;
+	indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels);
+
+	st->indio_gyro = indio_dev;
+	return devm_iio_device_register(dev, st->indio_gyro);
+}
