diff --git a/drivers/net/ethernet/stmicro/stmmac/hwif.h b/drivers/net/ethernet/stmicro/stmmac/hwif.h
index 9fd34df6eb16..22f79c0a9343 100644
--- a/drivers/net/ethernet/stmicro/stmmac/hwif.h
+++ b/drivers/net/ethernet/stmicro/stmmac/hwif.h
@@ -521,6 +521,7 @@ struct stmmac_priv;
 struct tc_cls_u32_offload;
 struct tc_cbs_qopt_offload;
 struct flow_cls_offload;
+struct tc_taprio_qopt_offload;
 
 struct stmmac_tc_ops {
 	int (*init)(struct stmmac_priv *priv);
@@ -530,6 +531,8 @@ struct stmmac_tc_ops {
 			 struct tc_cbs_qopt_offload *qopt);
 	int (*setup_cls)(struct stmmac_priv *priv,
 			 struct flow_cls_offload *cls);
+	int (*setup_taprio)(struct stmmac_priv *priv,
+			    struct tc_taprio_qopt_offload *qopt);
 };
 
 #define stmmac_tc_init(__priv, __args...) \
@@ -540,6 +543,8 @@ struct stmmac_tc_ops {
 	stmmac_do_callback(__priv, tc, setup_cbs, __args)
 #define stmmac_tc_setup_cls(__priv, __args...) \
 	stmmac_do_callback(__priv, tc, setup_cls, __args)
+#define stmmac_tc_setup_taprio(__priv, __args...) \
+	stmmac_do_callback(__priv, tc, setup_taprio, __args)
 
 struct stmmac_counters;
 
diff --git a/drivers/net/ethernet/stmicro/stmmac/stmmac_main.c b/drivers/net/ethernet/stmicro/stmmac/stmmac_main.c
index ecb89c609fb2..18a959589cbc 100644
--- a/drivers/net/ethernet/stmicro/stmmac/stmmac_main.c
+++ b/drivers/net/ethernet/stmicro/stmmac/stmmac_main.c
@@ -4076,6 +4076,8 @@ static int stmmac_setup_tc(struct net_device *ndev, enum tc_setup_type type,
 						  priv, priv, true);
 	case TC_SETUP_QDISC_CBS:
 		return stmmac_tc_setup_cbs(priv, priv, type_data);
+	case TC_SETUP_QDISC_TAPRIO:
+		return stmmac_tc_setup_taprio(priv, priv, type_data);
 	default:
 		return -EOPNOTSUPP;
 	}
diff --git a/drivers/net/ethernet/stmicro/stmmac/stmmac_tc.c b/drivers/net/ethernet/stmicro/stmmac/stmmac_tc.c
index 7d972e0fd2b0..58d4ce094381 100644
--- a/drivers/net/ethernet/stmicro/stmmac/stmmac_tc.c
+++ b/drivers/net/ethernet/stmicro/stmmac/stmmac_tc.c
@@ -591,9 +591,117 @@ static int tc_setup_cls(struct stmmac_priv *priv,
 	return ret;
 }
 
+static int tc_setup_taprio(struct stmmac_priv *priv,
+			   struct tc_taprio_qopt_offload *qopt)
+{
+	u32 size, wid = priv->dma_cap.estwid, dep = priv->dma_cap.estdep;
+	struct plat_stmmacenet_data *plat = priv->plat;
+	struct timespec64 time;
+	int i, ret = 0;
+
+	if (!priv->dma_cap.estsel)
+		return -EOPNOTSUPP;
+
+	switch (wid) {
+	case 0x1:
+		wid = 16;
+		break;
+	case 0x2:
+		wid = 20;
+		break;
+	case 0x3:
+		wid = 24;
+		break;
+	default:
+		return -EOPNOTSUPP;
+	}
+
+	switch (dep) {
+	case 0x1:
+		dep = 64;
+		break;
+	case 0x2:
+		dep = 128;
+		break;
+	case 0x3:
+		dep = 256;
+		break;
+	case 0x4:
+		dep = 512;
+		break;
+	case 0x5:
+		dep = 1024;
+		break;
+	default:
+		return -EOPNOTSUPP;
+	}
+
+	if (!qopt->enable)
+		goto disable;
+	if (qopt->num_entries >= dep)
+		return -EINVAL;
+	if (!qopt->base_time)
+		return -ERANGE;
+	if (!qopt->cycle_time)
+		return -ERANGE;
+
+	if (!plat->est) {
+		plat->est = devm_kzalloc(priv->device, sizeof(*plat->est),
+					 GFP_KERNEL);
+		if (!plat->est)
+			return -ENOMEM;
+	} else {
+		memset(plat->est, 0, sizeof(*plat->est));
+	}
+
+	size = qopt->num_entries;
+
+	priv->plat->est->gcl_size = size;
+	priv->plat->est->enable = qopt->enable;
+
+	for (i = 0; i < size; i++) {
+		s64 delta_ns = qopt->entries[i].interval;
+		u32 gates = qopt->entries[i].gate_mask;
+
+		if (delta_ns > GENMASK(wid, 0))
+			return -ERANGE;
+		if (gates > GENMASK(31 - wid, 0))
+			return -ERANGE;
+		if (qopt->entries[i].command != TC_TAPRIO_CMD_SET_GATES)
+			return -EOPNOTSUPP;
+
+		priv->plat->est->gcl[i] = delta_ns | (gates << wid);
+	}
+
+	/* Adjust for real system time */
+	time = ktime_to_timespec64(qopt->base_time);
+	priv->plat->est->btr[0] = (u32)time.tv_nsec;
+	priv->plat->est->btr[1] = (u32)time.tv_sec;
+
+	priv->plat->est->ctr[0] = (u32)(qopt->cycle_time % NSEC_PER_SEC);
+	priv->plat->est->ctr[1] = (u32)(qopt->cycle_time / NSEC_PER_SEC);
+
+	ret = stmmac_est_configure(priv, priv->ioaddr, priv->plat->est,
+				   priv->plat->clk_ptp_rate);
+	if (ret) {
+		netdev_err(priv->dev, "failed to configure EST\n");
+		goto disable;
+	}
+
+	netdev_info(priv->dev, "configured EST\n");
+	return 0;
+
+disable:
+	priv->plat->est->enable = false;
+	stmmac_est_configure(priv, priv->ioaddr, priv->plat->est,
+			     priv->plat->clk_ptp_rate);
+	return ret;
+}
+
 const struct stmmac_tc_ops dwmac510_tc_ops = {
 	.init = tc_init,
 	.setup_cls_u32 = tc_setup_cls_u32,
 	.setup_cbs = tc_setup_cbs,
 	.setup_cls = tc_setup_cls,
+	.setup_taprio = tc_setup_taprio,
 };