diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
index 88cf85596f..116f75192f 100644
--- a/arch/arm/dts/Makefile
+++ b/arch/arm/dts/Makefile
@@ -686,6 +686,7 @@ dtb-y += \
 	imx6dl-mamoj.dtb \
 	imx6dl-nitrogen6x.dtb \
 	imx6dl-pico.dtb \
+	imx6dl-udoo.dtb \
 	imx6dl-riotboard.dtb \
 	imx6dl-sabreauto.dtb \
 	imx6dl-sabresd.dtb \
@@ -721,6 +722,7 @@ dtb-y += \
 	imx6q-novena.dtb \
 	imx6q-pico.dtb \
 	imx6q-phytec-mira-rdk-nand.dtb \
+	imx6q-udoo.dtb \
 	imx6q-sabreauto.dtb \
 	imx6q-sabrelite.dtb \
 	imx6q-sabresd.dtb \
diff --git a/arch/arm/dts/imx6dl-udoo.dts b/arch/arm/dts/imx6dl-udoo.dts
new file mode 100644
index 0000000000..d871cac171
--- /dev/null
+++ b/arch/arm/dts/imx6dl-udoo.dts
@@ -0,0 +1,14 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright 2013 Freescale Semiconductor, Inc.
+ *
+ * Author: Fabio Estevam <fabio.estevam@freescale.com>
+ */
+/dts-v1/;
+#include "imx6dl.dtsi"
+#include "imx6qdl-udoo.dtsi"
+
+/ {
+	model = "Udoo i.MX6 Dual-lite Board";
+	compatible = "udoo,imx6dl-udoo", "fsl,imx6dl";
+};
diff --git a/arch/arm/dts/imx6q-udoo.dts b/arch/arm/dts/imx6q-udoo.dts
new file mode 100644
index 0000000000..52e9f4a211
--- /dev/null
+++ b/arch/arm/dts/imx6q-udoo.dts
@@ -0,0 +1,18 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright 2013 Freescale Semiconductor, Inc.
+ *
+ * Author: Fabio Estevam <fabio.estevam@freescale.com>
+ */
+/dts-v1/;
+#include "imx6q.dtsi"
+#include "imx6qdl-udoo.dtsi"
+
+/ {
+	model = "Udoo i.MX6 Quad Board";
+	compatible = "udoo,imx6q-udoo", "fsl,imx6q";
+};
+
+&sata {
+	status = "okay";
+};
diff --git a/arch/arm/dts/imx6qdl-udoo.dtsi b/arch/arm/dts/imx6qdl-udoo.dtsi
new file mode 100644
index 0000000000..d07d8f8345
--- /dev/null
+++ b/arch/arm/dts/imx6qdl-udoo.dtsi
@@ -0,0 +1,324 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright 2013 Freescale Semiconductor, Inc.
+ *
+ * Author: Fabio Estevam <fabio.estevam@freescale.com>
+ */
+
+/ {
+	aliases {
+		backlight = &backlight;
+		panelchan = &panelchan;
+		panel7 = &panel7;
+		touchscreenp7 = &touchscreenp7;
+	};
+
+	chosen {
+		stdout-path = &uart2;
+	};
+
+	backlight: backlight {
+		compatible = "gpio-backlight";
+		gpios = <&gpio1 4 0>;
+		default-on;
+		status = "disabled";
+	};
+
+	gpio-poweroff {
+		compatible = "gpio-poweroff";
+		gpios = <&gpio2 4 0>;
+		pinctrl-0 = <&pinctrl_power_off>;
+		pinctrl-names = "default";
+	};
+
+	memory@10000000 {
+		device_type = "memory";
+		reg = <0x10000000 0x40000000>;
+	};
+
+	panel7: panel7 {
+		/*
+		 * in reality it is a -20t (parallel) model,
+		 * but with LVDS bridge chip attached,
+		 * so it is equivalent to -19t model in drive
+		 * characteristics
+		 */
+		compatible = "urt,umsh-8596md-19t";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_panel>;
+		power-supply = <&reg_panel>;
+		backlight = <&backlight>;
+		status = "disabled";
+
+		port {
+			panel_in: endpoint {
+				remote-endpoint = <&lvds0_out>;
+			};
+		};
+	};
+
+	regulators {
+		compatible = "simple-bus";
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		reg_usb_h1_vbus: regulator@0 {
+			compatible = "regulator-fixed";
+			reg = <0>;
+			regulator-name = "usb_h1_vbus";
+			regulator-min-microvolt = <5000000>;
+			regulator-max-microvolt = <5000000>;
+			enable-active-high;
+			startup-delay-us = <2>; /* USB2415 requires a POR of 1 us minimum */
+			gpio = <&gpio7 12 0>;
+		};
+
+		reg_panel: regulator@1 {
+			compatible = "regulator-fixed";
+			reg = <1>;
+			regulator-name = "lcd_panel";
+			enable-active-high;
+			gpio = <&gpio1 2 0>;
+		};
+	};
+
+	sound {
+		compatible = "fsl,imx6q-udoo-ac97",
+			     "fsl,imx-audio-ac97";
+		model = "fsl,imx6q-udoo-ac97";
+		audio-cpu = <&ssi1>;
+		audio-routing =
+			"RX", "Mic Jack",
+			"Headphone Jack", "TX";
+		mux-int-port = <1>;
+		mux-ext-port = <6>;
+	};
+};
+
+&fec {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_enet>;
+	phy-mode = "rgmii-id";
+	status = "okay";
+};
+
+&hdmi {
+	ddc-i2c-bus = <&i2c2>;
+	status = "okay";
+};
+
+&i2c2 {
+	clock-frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c2>;
+	status = "okay";
+};
+
+&i2c3 {
+	clock-frequency = <100000>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_i2c3>;
+	status = "okay";
+
+	touchscreenp7: touchscreenp7@55 {
+		compatible = "sitronix,st1232";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_touchscreenp7>;
+		reg = <0x55>;
+		interrupt-parent = <&gpio1>;
+		interrupts = <13 8>;
+		gpios = <&gpio1 15 0>;
+		status = "disabled";
+	};
+};
+
+&iomuxc {
+	imx6q-udoo {
+		pinctrl_enet: enetgrp {
+			fsl,pins = <
+				MX6QDL_PAD_RGMII_RXC__RGMII_RXC		0x1b030
+				MX6QDL_PAD_RGMII_RD0__RGMII_RD0		0x1b030
+				MX6QDL_PAD_RGMII_RD1__RGMII_RD1		0x1b030
+				MX6QDL_PAD_RGMII_RD2__RGMII_RD2		0x1b030
+				MX6QDL_PAD_RGMII_RD3__RGMII_RD3		0x1b030
+				MX6QDL_PAD_RGMII_RX_CTL__RGMII_RX_CTL	0x1b030
+				MX6QDL_PAD_RGMII_TXC__RGMII_TXC		0x1b030
+				MX6QDL_PAD_RGMII_TD0__RGMII_TD0		0x1b030
+				MX6QDL_PAD_RGMII_TD1__RGMII_TD1		0x1b030
+				MX6QDL_PAD_RGMII_TD2__RGMII_TD2		0x1b030
+				MX6QDL_PAD_RGMII_TD3__RGMII_TD3		0x1b030
+				MX6QDL_PAD_RGMII_TX_CTL__RGMII_TX_CTL	0x1b030
+				MX6QDL_PAD_ENET_REF_CLK__ENET_TX_CLK	0x1b0b0
+				MX6QDL_PAD_ENET_MDIO__ENET_MDIO		0x1b0b0
+				MX6QDL_PAD_ENET_MDC__ENET_MDC		0x1b0b0
+				MX6QDL_PAD_GPIO_16__ENET_REF_CLK	0x4001b0a8
+			>;
+		};
+
+		pinctrl_i2c2: i2c2grp {
+			fsl,pins = <
+				MX6QDL_PAD_KEY_COL3__I2C2_SCL		0x4001b8b1
+				MX6QDL_PAD_KEY_ROW3__I2C2_SDA		0x4001b8b1
+			>;
+		};
+
+		pinctrl_i2c3: i2c3grp {
+			fsl,pins = <
+				MX6QDL_PAD_GPIO_5__I2C3_SCL		0x4001f8b1
+				MX6QDL_PAD_GPIO_6__I2C3_SDA		0x4001f8b1
+			>;
+		};
+
+		pinctrl_panel: panelgrp {
+			fsl,pins = <
+				MX6QDL_PAD_GPIO_2__GPIO1_IO02		0x70
+				MX6QDL_PAD_GPIO_4__GPIO1_IO04		0x70
+			>;
+		};
+
+		pinctrl_power_off: poweroffgrp {
+			fsl,pins = <
+				MX6QDL_PAD_NANDF_D4__GPIO2_IO04		0x30
+			>;
+		};
+
+		pinctrl_touchscreenp7: touchscreenp7grp {
+			fsl,pins = <
+				MX6QDL_PAD_SD2_DAT0__GPIO1_IO15		0x70
+				MX6QDL_PAD_SD2_DAT2__GPIO1_IO13		0x1b0b0
+			>;
+		};
+
+		pinctrl_uart2: uart2grp {
+			fsl,pins = <
+				MX6QDL_PAD_EIM_D26__UART2_TX_DATA	0x1b0b1
+				MX6QDL_PAD_EIM_D27__UART2_RX_DATA	0x1b0b1
+			>;
+		};
+
+		pinctrl_uart4: uart4grp {
+			fsl,pins = <
+				MX6QDL_PAD_KEY_COL0__UART4_TX_DATA	0x1b0b1
+				MX6QDL_PAD_KEY_ROW0__UART4_RX_DATA	0x1b0b1
+			>;
+		};
+
+		pinctrl_usbh: usbhgrp {
+			fsl,pins = <
+				MX6QDL_PAD_GPIO_17__GPIO7_IO12 0x80000000
+				MX6QDL_PAD_NANDF_CS2__CCM_CLKO2 0x130b0
+			>;
+		};
+
+		pinctrl_usbotg: usbotg {
+			fsl,pins = <
+				MX6QDL_PAD_GPIO_1__USB_OTG_ID 0x17059
+				MX6QDL_PAD_EIM_D22__USB_OTG_PWR 0x17059
+				MX6QDL_PAD_EIM_D21__USB_OTG_OC 0x17059
+			>;
+		};
+
+		pinctrl_usdhc3: usdhc3grp {
+			fsl,pins = <
+				MX6QDL_PAD_SD3_CMD__SD3_CMD		0x17059
+				MX6QDL_PAD_SD3_CLK__SD3_CLK		0x10059
+				MX6QDL_PAD_SD3_DAT0__SD3_DATA0		0x17059
+				MX6QDL_PAD_SD3_DAT1__SD3_DATA1		0x17059
+				MX6QDL_PAD_SD3_DAT2__SD3_DATA2		0x17059
+				MX6QDL_PAD_SD3_DAT3__SD3_DATA3		0x17059
+			>;
+		};
+
+		pinctrl_ac97_running: ac97running {
+			fsl,pins = <
+				MX6QDL_PAD_DI0_PIN2__AUD6_TXD		0x1b0b0
+				MX6QDL_PAD_DI0_PIN3__AUD6_TXFS		0x1b0b0
+				MX6QDL_PAD_DI0_PIN4__AUD6_RXD		0x13080
+				MX6QDL_PAD_DI0_PIN15__AUD6_TXC		0x13080
+				MX6QDL_PAD_EIM_EB2__GPIO2_IO30		0x1b0b0
+			>;
+		};
+
+		pinctrl_ac97_warm_reset: ac97warmreset {
+			fsl,pins = <
+				MX6QDL_PAD_DI0_PIN2__AUD6_TXD		0x1b0b0
+				MX6QDL_PAD_DI0_PIN3__GPIO4_IO19		0x1b0b0
+				MX6QDL_PAD_DI0_PIN4__AUD6_RXD		0x13080
+				MX6QDL_PAD_DI0_PIN15__AUD6_TXC		0x13080
+				MX6QDL_PAD_EIM_EB2__GPIO2_IO30		0x1b0b0
+			>;
+		};
+
+		pinctrl_ac97_reset: ac97reset {
+			fsl,pins = <
+				MX6QDL_PAD_DI0_PIN2__GPIO4_IO18		0x1b0b0
+				MX6QDL_PAD_DI0_PIN3__GPIO4_IO19		0x1b0b0
+				MX6QDL_PAD_DI0_PIN4__AUD6_RXD		0x13080
+				MX6QDL_PAD_DI0_PIN15__AUD6_TXC		0x13080
+				MX6QDL_PAD_EIM_EB2__GPIO2_IO30		0x1b0b0
+			>;
+		};
+	};
+};
+
+&ldb {
+	status = "okay";
+
+	panelchan: lvds-channel@0 {
+		port@4 {
+			reg = <4>;
+
+			lvds0_out: endpoint {
+				remote-endpoint = <&panel_in>;
+			};
+		};
+	};
+};
+
+&uart2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart2>;
+	status = "okay";
+};
+
+&uart4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_uart4>;
+	status = "okay";
+};
+
+&usbh1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usbh>;
+	vbus-supply = <&reg_usb_h1_vbus>;
+	clocks = <&clks IMX6QDL_CLK_CKO>;
+	status = "okay";
+};
+
+&usbotg {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usbotg>;
+	status = "okay";
+};
+
+&usdhc3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&pinctrl_usdhc3>;
+	non-removable;
+	status = "okay";
+};
+
+&audmux {
+	status = "okay";
+};
+
+&ssi1 {
+	cell-index = <0>;
+	fsl,mode = "ac97-slave";
+	pinctrl-names = "ac97-running", "ac97-reset", "ac97-warm-reset";
+	pinctrl-0 = <&pinctrl_ac97_running>;
+	pinctrl-1 = <&pinctrl_ac97_reset>;
+	pinctrl-2 = <&pinctrl_ac97_warm_reset>;
+	ac97-gpios = <&gpio4 19 0 &gpio4 18 0 &gpio2 30 0>;
+	status = "okay";
+};
