diff --git a/arch/arm64/boot/dts/ti/Makefile b/arch/arm64/boot/dts/ti/Makefile
index d474ee530bbf..8dfb46af79b0 100644
--- a/arch/arm64/boot/dts/ti/Makefile
+++ b/arch/arm64/boot/dts/ti/Makefile
@@ -200,6 +200,10 @@ dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-adapter-panel-cap-touch-10inch-dsi.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-adapter-panel-cap-touch-7inch-dsi.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-clover-panel-cap-touch-10inch-dsi.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-clover.dtb
+dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-csi1-ov5640-24mhz.dtbo
+dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-csi1-ov5640.dtbo
+dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-csi2-ov5640-24mhz.dtbo
+dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-csi2-ov5640.dtbo
 dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-dev.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-dev-dsi-to-hdmi.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-am69-aquila-dsi-to-hdmi.dtbo
@@ -329,6 +333,14 @@ k3-am69-aquila-dev-adapter-panel-cap-touch-10inch-dsi-dtbs := \
 k3-am69-aquila-dev-adapter-panel-cap-touch-7inch-dsi-dtbs := \
 	k3-am69-aquila-dev.dtb \
 	k3-am69-aquila-adapter-panel-cap-touch-7inch-dsi.dtbo
+k3-am69-aquila-dev-csi-ov5640-24mhz-dtbs := \
+	k3-am69-aquila-dev.dtb \
+	k3-am69-aquila-csi1-ov5640-24mhz.dtbo \
+	k3-am69-aquila-csi2-ov5640-24mhz.dtbo
+k3-am69-aquila-dev-csi-ov5640-dtbs := \
+	k3-am69-aquila-dev.dtb \
+	k3-am69-aquila-csi1-ov5640.dtbo \
+	k3-am69-aquila-csi2-ov5640.dtbo
 k3-am69-aquila-dev-dsi-to-lvds-panel-cap-touch-10inch-dtbs := \
 	k3-am69-aquila-dev.dtb \
 	k3-am69-aquila-dsi-to-lvds-panel-cap-touch-10inch.dtbo
@@ -418,6 +430,8 @@ dtb- += k3-am625-beagleplay-csi2-ov5640.dtb \
 	k3-am69-aquila-clover-panel-cap-touch-7inch-dsi.dtb \
 	k3-am69-aquila-dev-adapter-panel-cap-touch-10inch-dsi.dtb \
 	k3-am69-aquila-dev-adapter-panel-cap-touch-7inch-dsi.dtb \
+	k3-am69-aquila-dev-csi-ov5640-24mhz.dtb \
+	k3-am69-aquila-dev-csi-ov5640.dtb \
 	k3-am69-aquila-dev-dsi-to-lvds-panel-cap-touch-10inch.dtb \
 	k3-am69-sk-csi2-dual-imx219.dtb \
 	k3-am69-sk-pcie0-ep.dtb \
diff --git a/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640-24mhz.dtso b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640-24mhz.dtso
new file mode 100644
index 000000000000..e7d238da8bef
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640-24mhz.dtso
@@ -0,0 +1,18 @@
+// SPDX-License-Identifier: GPL-2.0-or-later OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * Toradex CSI Camera Module 5MP OV5640 on Aquila CSI_1.
+ * Used on Development Board (J70). Uses a 24 MHz oscillator.
+ *
+ * https://developer.toradex.com/hardware/legacy-products/other/csi-camera-module-5mp-ov5640/
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include "k3-am69-aquila-csi1-ov5640.dtsi"
+
+&clock_camera_csi_1 {
+	clock-frequency = <24000000>;
+};
diff --git a/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640.dtsi b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640.dtsi
new file mode 100644
index 000000000000..668658d32111
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640.dtsi
@@ -0,0 +1,76 @@
+// SPDX-License-Identifier: GPL-2.0-or-later OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * Common device tree include for Toradex OV5640 CSI Camera on Aquila CSI_1.
+ * Used on Development Board (J70).
+ */
+
+#include <dt-bindings/gpio/gpio.h>
+
+&{/} {
+	clock_camera_csi_1: clock-camera-csi-1 {
+		compatible = "fixed-clock";
+		#clock-cells = <0>;
+	};
+
+	regulator_camera_csi_1: regulator-camera-csi-1 {
+		compatible = "regulator-fixed";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_12_csi_1>;
+		/* Aquila GPIO_12_CSI_1 - Camera Connector 24 */
+		gpio = <&main_gpio0 48 GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+		regulator-name = "V_CSI_1";
+		startup-delay-us = <5000>;
+	};
+};
+
+&csi0_port0 {
+	status = "okay";
+
+	csi0_port0_in: endpoint {
+		remote-endpoint = <&csi0_port0_cam_out>;
+		bus-type = <4>; /* CSI2 DPHY. */
+		clock-lanes = <0>;
+		data-lanes = <1 2>;
+	};
+};
+
+&dphy0 {
+	status = "okay";
+};
+
+/* Aquila I2C_4_CSI1 */
+&main_i2c1 {
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	camera@3c {
+		compatible = "ovti,ov5640";
+		reg = <0x3c>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_09_csi_1>, <&pinctrl_gpio_10_csi_1>;
+		clocks = <&clock_camera_csi_1>;
+		clock-names = "xclk";
+		AVDD-supply = <&regulator_camera_csi_1>;
+		DOVDD-supply = <&regulator_camera_csi_1>;
+		DVDD-supply = <&regulator_camera_csi_1>;
+		/* Aquila GPIO_10_CSI_1 - Camera Connector 22 */
+		powerdown-gpios = <&main_gpio0 2 GPIO_ACTIVE_HIGH>;
+		/* Aquila GPIO_09_CSI_1 - Camera Connector 11 */
+		reset-gpios = <&main_gpio0 1 GPIO_ACTIVE_LOW>;
+
+		port {
+			csi0_port0_cam_out: endpoint {
+				remote-endpoint = <&csi0_port0_in>;
+				clock-lanes = <0>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};
+
+&ti_csi2rx0 {
+	status = "okay";
+};
diff --git a/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640.dtso b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640.dtso
new file mode 100644
index 000000000000..76807176e288
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi1-ov5640.dtso
@@ -0,0 +1,19 @@
+// SPDX-License-Identifier: GPL-2.0-or-later OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * Toradex CSI Camera Set 5MP OV5640 on Aquila CSI_1.
+ * Used on Development Board (J70). Uses a 27 MHz oscillator.
+ *
+ * https://developer.toradex.com/hardware/accessories/cameras/csi-camera-module-5mp-ov5640-arducam
+ * https://www.toradex.com/accessories/csi-camera-ov5640
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include "k3-am69-aquila-csi1-ov5640.dtsi"
+
+&clock_camera_csi_1 {
+	clock-frequency = <27000000>;
+};
diff --git a/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640-24mhz.dtso b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640-24mhz.dtso
new file mode 100644
index 000000000000..607e1c76c86d
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640-24mhz.dtso
@@ -0,0 +1,18 @@
+// SPDX-License-Identifier: GPL-2.0-or-later OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * Toradex CSI Camera Module 5MP OV5640 on Aquila CSI_2.
+ * Used on Development Board (J71). Uses a 24 MHz oscillator.
+ *
+ * https://developer.toradex.com/hardware/legacy-products/other/csi-camera-module-5mp-ov5640/
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include "k3-am69-aquila-csi2-ov5640.dtsi"
+
+&clock_camera_csi_2 {
+	clock-frequency = <24000000>;
+};
diff --git a/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640.dtsi b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640.dtsi
new file mode 100644
index 000000000000..454ac120337c
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640.dtsi
@@ -0,0 +1,76 @@
+// SPDX-License-Identifier: GPL-2.0-or-later OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * Common device tree include for Toradex OV5640 CSI Camera on Aquila CSI_2.
+ * Used on Development Board (J71).
+ */
+
+#include <dt-bindings/gpio/gpio.h>
+
+&{/} {
+	clock_camera_csi_2: clock-camera-csi-2 {
+		compatible = "fixed-clock";
+		#clock-cells = <0>;
+	};
+
+	regulator_camera_csi_2: regulator-camera-csi-2 {
+		compatible = "regulator-fixed";
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_16_csi_2>;
+		/* Aquila GPIO_16_CSI_2 - Camera Connector 24 */
+		gpio = <&wkup_gpio0 39 GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+		regulator-name = "V_CSI_2";
+		startup-delay-us = <5000>;
+	};
+};
+
+&csi1_port0 {
+	status = "okay";
+
+	csi1_port0_in: endpoint {
+		remote-endpoint = <&csi1_port0_cam_out>;
+		bus-type = <4>; /* CSI2 DPHY. */
+		clock-lanes = <0>;
+		data-lanes = <1 2>;
+	};
+};
+
+&dphy1 {
+	status = "okay";
+};
+
+/* Aquila I2C_5_CSI2 */
+&main_i2c2 {
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	camera@3c {
+		compatible = "ovti,ov5640";
+		reg = <0x3c>;
+		pinctrl-names = "default";
+		pinctrl-0 = <&pinctrl_gpio_13_csi_2>, <&pinctrl_gpio_14_csi_2>;
+		clocks = <&clock_camera_csi_2>;
+		clock-names = "xclk";
+		AVDD-supply = <&regulator_camera_csi_2>;
+		DOVDD-supply = <&regulator_camera_csi_2>;
+		DVDD-supply = <&regulator_camera_csi_2>;
+		/* Aquila GPIO_14_CSI_2 - Camera Connector 22 */
+		powerdown-gpios = <&wkup_gpio0 33 GPIO_ACTIVE_HIGH>;
+		/* Aquila GPIO_13_CSI_2 - Camera Connector 11 */
+		reset-gpios = <&wkup_gpio0 32 GPIO_ACTIVE_LOW>;
+
+		port {
+			csi1_port0_cam_out: endpoint {
+				remote-endpoint = <&csi1_port0_in>;
+				clock-lanes = <0>;
+				data-lanes = <1 2>;
+			};
+		};
+	};
+};
+
+&ti_csi2rx1 {
+	status = "okay";
+};
diff --git a/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640.dtso b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640.dtso
new file mode 100644
index 000000000000..d3279f373d32
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am69-aquila-csi2-ov5640.dtso
@@ -0,0 +1,19 @@
+// SPDX-License-Identifier: GPL-2.0-or-later OR MIT
+/*
+ * Copyright (c) Toradex
+ *
+ * Toradex CSI Camera Set 5MP OV5640 on Aquila CSI_2.
+ * Used on Development Board (J71). Uses a 27 MHz oscillator.
+ *
+ * https://developer.toradex.com/hardware/accessories/cameras/csi-camera-module-5mp-ov5640-arducam
+ * https://www.toradex.com/accessories/csi-camera-ov5640
+ */
+
+/dts-v1/;
+/plugin/;
+
+#include "k3-am69-aquila-csi2-ov5640.dtsi"
+
+&clock_camera_csi_2 {
+	clock-frequency = <27000000>;
+};