diff --git a/arch/arm64/boot/dts/rockchip/Makefile b/arch/arm64/boot/dts/rockchip/Makefile
index cf4892da4769..72a348c9b5ca 100644
--- a/arch/arm64/boot/dts/rockchip/Makefile
+++ b/arch/arm64/boot/dts/rockchip/Makefile
@@ -294,6 +294,7 @@ dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576-test5-v10.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576-vehicle-evb-v10.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576-vehicle-evb-v10-linux.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576-vehicle-evb-v20.dtb
+dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576-vehicle-evb-v20-amp.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576-vehicle-evb-v20-linux.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576s-evb1-v10.dtb
 dtb-$(CONFIG_ARCH_ROCKCHIP) += rk3576s-evb1-v10-linux.dtb
diff --git a/arch/arm64/boot/dts/rockchip/rk3576-vehicle-amp.dtsi b/arch/arm64/boot/dts/rockchip/rk3576-vehicle-amp.dtsi
new file mode 100644
index 000000000000..b8c2ec459fb2
--- /dev/null
+++ b/arch/arm64/boot/dts/rockchip/rk3576-vehicle-amp.dtsi
@@ -0,0 +1,78 @@
+// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
+/*
+ * Copyright (c) 2024 Rockchip Electronics Co., Ltd.
+ */
+
+#include <dt-bindings/soc/rockchip-amp.h>
+
+#define CPU_GET_AFFINITY(cpuId, clusterId) (((cpuId) << 0) | ((clusterId) << 8))
+
+/ {
+	rockchip_amp: rockchip-amp {
+		compatible = "rockchip,amp";
+		clocks = <&cru FCLK_BUS_CM0_CORE>, <&cru CLK_BUS_CM0_RTC>,
+			<&cru FCLK_PMU_CM0_CORE>, <&cru CLK_PMU_CM0_RTC>,
+			<&cru PCLK_MAILBOX0>,
+			<&cru SCLK_UART8>, <&cru PCLK_UART8>,
+			<&cru PCLK_BUSTIMER1>, <&cru CLK_TIMER10>, <&cru CLK_TIMER11>;
+
+		pinctrl-names = "default";
+		pinctrl-0 = <&uart8m1_xfer>;
+
+		amp-cpu-aff-maskbits = /bits/ 64 <0x0 0x1 0x1 0x2 0x2 0x4 0x3 0x8 0x100 0x10
+						 0x101 0x20 0x102 0x40 0x103 0x80>;
+		amp-irqs = /bits/ 64 <GIC_AMP_IRQ_CFG_ROUTE(113, 0xd0, CPU_GET_AFFINITY(3, 0))
+				      GIC_AMP_IRQ_CFG_ROUTE(174, 0xd0, CPU_GET_AFFINITY(3, 0))>;
+		status = "okay";
+	};
+
+	reserved-memory {
+		#address-cells = <2>;
+		#size-cells = <2>;
+		ranges;
+
+		mcu_reserved: mcu@47800000 {
+			reg = <0x0 0x47800000 0x0 0x100000>;
+			no-map;
+		};
+
+		amp_shmem_reserved: amp-shmem@47900000 {
+			reg = <0x0 0x47900000 0x0 0x400000>;
+			no-map;
+		};
+
+		rpmsg_reserved: rpmsg@47d00000 {
+			reg = <0x0 0x47d00000 0x0 0x200000>;
+			no-map;
+		};
+
+		rpmsg_dma_reserved: rpmsg-dma@47f00000 {
+			compatible = "shared-dma-pool";
+			reg = <0x0 0x47f00000 0x0 0x200000>;
+			no-map;
+		};
+	};
+
+	rpmsg: rpmsg@47d00000 {
+		compatible = "rockchip,rpmsg";
+		mbox-names = "rpmsg-rx", "rpmsg-tx";
+		mboxes = <&mailbox0 0 &mailbox3 0>;
+		rockchip,vdev-nums = <1>;
+		/* CPU3: link-id 0x03; MCU: link-id 0x04; */
+		rockchip,link-id = <0x03>;
+		reg = <0x0 0x47d00000 0x0 0x20000>;
+		memory-region = <&rpmsg_dma_reserved>;
+
+		status = "okay";
+	};
+};
+
+&mailbox0 {
+	rockchip,txpoll-period-ms = <1>;
+	status = "okay";
+};
+
+&mailbox3 {
+	rockchip,txpoll-period-ms = <1>;
+	status = "okay";
+};
diff --git a/arch/arm64/boot/dts/rockchip/rk3576-vehicle-evb-v20-amp.dts b/arch/arm64/boot/dts/rockchip/rk3576-vehicle-evb-v20-amp.dts
new file mode 100644
index 000000000000..92605f93cd72
--- /dev/null
+++ b/arch/arm64/boot/dts/rockchip/rk3576-vehicle-evb-v20-amp.dts
@@ -0,0 +1,12 @@
+// SPDX-License-Identifier: (GPL-2.0+ OR MIT)
+/*
+ * Copyright (c) 2024 Rockchip Electronics Co., Ltd.
+ *
+ */
+#include "rk3576-vehicle-evb-v20.dts"
+#include "rk3576-vehicle-amp.dtsi"
+
+&uart8 {
+	status = "disabled";
+};
+