diff --git a/drivers/thermal/broadcom/Kconfig b/drivers/thermal/broadcom/Kconfig
index cf43e1520de9..061f1db6edc9 100644
--- a/drivers/thermal/broadcom/Kconfig
+++ b/drivers/thermal/broadcom/Kconfig
@@ -1,4 +1,11 @@
 # SPDX-License-Identifier: GPL-2.0-only
+config BCM2711_THERMAL
+	tristate "Broadcom AVS RO thermal sensor driver"
+	depends on ARCH_BCM2835 || COMPILE_TEST
+	depends on THERMAL_OF && MFD_SYSCON
+	help
+	  Support for thermal sensors on Broadcom BCM2711 SoCs.
+
 config BCM2835_THERMAL
 	tristate "Thermal sensors on bcm2835 SoC"
 	depends on ARCH_BCM2835 || COMPILE_TEST
diff --git a/drivers/thermal/broadcom/Makefile b/drivers/thermal/broadcom/Makefile
index 490ab1f7a86d..c917b243d5f0 100644
--- a/drivers/thermal/broadcom/Makefile
+++ b/drivers/thermal/broadcom/Makefile
@@ -1,4 +1,5 @@
 # SPDX-License-Identifier: GPL-2.0-only
+obj-$(CONFIG_BCM2711_THERMAL)		+= bcm2711_thermal.o
 obj-$(CONFIG_BCM2835_THERMAL)		+= bcm2835_thermal.o
 obj-$(CONFIG_BRCMSTB_THERMAL)		+= brcmstb_thermal.o
 obj-$(CONFIG_BCM_NS_THERMAL)		+= ns-thermal.o
diff --git a/drivers/thermal/broadcom/bcm2711_thermal.c b/drivers/thermal/broadcom/bcm2711_thermal.c
new file mode 100644
index 000000000000..67c2a737bc9d
--- /dev/null
+++ b/drivers/thermal/broadcom/bcm2711_thermal.c
@@ -0,0 +1,123 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Broadcom AVS RO thermal sensor driver
+ *
+ * based on brcmstb_thermal
+ *
+ * Copyright (C) 2020 Stefan Wahren
+ */
+
+#include <linux/bitops.h>
+#include <linux/clk.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/io.h>
+#include <linux/kernel.h>
+#include <linux/mfd/syscon.h>
+#include <linux/module.h>
+#include <linux/platform_device.h>
+#include <linux/of_device.h>
+#include <linux/regmap.h>
+#include <linux/thermal.h>
+
+#include "../thermal_hwmon.h"
+
+#define AVS_RO_TEMP_STATUS		0x200
+#define AVS_RO_TEMP_STATUS_VALID_MSK	(BIT(16) | BIT(10))
+#define AVS_RO_TEMP_STATUS_DATA_MSK	GENMASK(9, 0)
+
+struct bcm2711_thermal_priv {
+	struct regmap *regmap;
+	struct thermal_zone_device *thermal;
+};
+
+static int bcm2711_get_temp(void *data, int *temp)
+{
+	struct bcm2711_thermal_priv *priv = data;
+	int slope = thermal_zone_get_slope(priv->thermal);
+	int offset = thermal_zone_get_offset(priv->thermal);
+	u32 val;
+	int ret;
+	long t;
+
+	ret = regmap_read(priv->regmap, AVS_RO_TEMP_STATUS, &val);
+	if (ret)
+		return ret;
+
+	if (!(val & AVS_RO_TEMP_STATUS_VALID_MSK))
+		return -EIO;
+
+	val &= AVS_RO_TEMP_STATUS_DATA_MSK;
+
+	/* Convert a HW code to a temperature reading (millidegree celsius) */
+	t = slope * val + offset;
+
+	*temp = t < 0 ? 0 : t;
+
+	return 0;
+}
+
+static const struct thermal_zone_of_device_ops bcm2711_thermal_of_ops = {
+	.get_temp	= bcm2711_get_temp,
+};
+
+static const struct of_device_id bcm2711_thermal_id_table[] = {
+	{ .compatible = "brcm,bcm2711-thermal" },
+	{},
+};
+MODULE_DEVICE_TABLE(of, bcm2711_thermal_id_table);
+
+static int bcm2711_thermal_probe(struct platform_device *pdev)
+{
+	struct thermal_zone_device *thermal;
+	struct bcm2711_thermal_priv *priv;
+	struct device *dev = &pdev->dev;
+	struct device_node *parent;
+	struct regmap *regmap;
+	int ret;
+
+	priv = devm_kzalloc(dev, sizeof(*priv), GFP_KERNEL);
+	if (!priv)
+		return -ENOMEM;
+
+	/* get regmap from syscon node */
+	parent = of_get_parent(dev->of_node); /* parent should be syscon node */
+	regmap = syscon_node_to_regmap(parent);
+	of_node_put(parent);
+	if (IS_ERR(regmap)) {
+		ret = PTR_ERR(regmap);
+		dev_err(dev, "failed to get regmap: %d\n", ret);
+		return ret;
+	}
+	priv->regmap = regmap;
+
+	thermal = devm_thermal_zone_of_sensor_register(dev, 0, priv,
+						       &bcm2711_thermal_of_ops);
+	if (IS_ERR(thermal)) {
+		ret = PTR_ERR(thermal);
+		dev_err(dev, "could not register sensor: %d\n", ret);
+		return ret;
+	}
+
+	priv->thermal = thermal;
+
+	thermal->tzp->no_hwmon = false;
+	ret = thermal_add_hwmon_sysfs(thermal);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+static struct platform_driver bcm2711_thermal_driver = {
+	.probe = bcm2711_thermal_probe,
+	.driver = {
+		.name = "bcm2711_thermal",
+		.of_match_table = bcm2711_thermal_id_table,
+	},
+};
+module_platform_driver(bcm2711_thermal_driver);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Stefan Wahren");
+MODULE_DESCRIPTION("Broadcom AVS RO thermal sensor driver");