diff --git a/arch/arm64/boot/dts/ti/Makefile b/arch/arm64/boot/dts/ti/Makefile
index 9a722c2473fb..a61e8902a23d 100644
--- a/arch/arm64/boot/dts/ti/Makefile
+++ b/arch/arm64/boot/dts/ti/Makefile
@@ -95,6 +95,7 @@ dtb-$(CONFIG_ARCH_K3) += k3-j721s2-evm.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-j721s2-evm-pcie1-ep.dtbo
 
 # Boards with J722s SoC
+dtb-$(CONFIG_ARCH_K3) += k3-am67a-beagley-ai.dtb
 dtb-$(CONFIG_ARCH_K3) += k3-j722s-evm.dtb
 
 # Boards with J784s4 SoC
diff --git a/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
new file mode 100644
index 000000000000..cffa1c9ba00d
--- /dev/null
+++ b/arch/arm64/boot/dts/ti/k3-am67a-beagley-ai.dts
@@ -0,0 +1,369 @@
+// SPDX-License-Identifier: GPL-2.0-only OR MIT
+/*
+ * https://beagley-ai.org/
+ *
+ * Copyright (C) 2024 Texas Instruments Incorporated - https://www.ti.com/
+ * Copyright (C) 2024 Robert Nelson, BeagleBoard.org Foundation
+ */
+
+/dts-v1/;
+
+#include <dt-bindings/net/ti-dp83867.h>
+#include "k3-j722s.dtsi"
+
+/ {
+	compatible = "beagle,am67a-beagley-ai", "ti,j722s";
+	model = "BeagleBoard.org BeagleY-AI";
+
+	aliases {
+		serial0 = &wkup_uart0;
+		serial2 = &main_uart0;
+		mmc0 = &sdhci1;
+	};
+
+	chosen {
+		stdout-path = &main_uart0;
+	};
+
+	memory@80000000 {
+		/* 4G RAM */
+		reg = <0x00000000 0x80000000 0x00000000 0x80000000>,
+		      <0x00000008 0x80000000 0x00000000 0x80000000>;
+		device_type = "memory";
+		bootph-pre-ram;
+	};
+
+	reserved_memory: reserved-memory {
+		#address-cells = <2>;
+		#size-cells = <2>;
+		ranges;
+
+		secure_tfa_ddr: tfa@9e780000 {
+			reg = <0x00 0x9e780000 0x00 0x80000>;
+			no-map;
+		};
+
+		secure_ddr: optee@9e800000 {
+			reg = <0x00 0x9e800000 0x00 0x01800000>;
+			no-map;
+		};
+
+		wkup_r5fss0_core0_memory_region: r5f-memory@a0100000 {
+			compatible = "shared-dma-pool";
+			reg = <0x00 0xa0100000 0x00 0xf00000>;
+			no-map;
+		};
+
+	};
+
+	vsys_5v0: regulator-1 {
+		compatible = "regulator-fixed";
+		regulator-name = "vsys_5v0";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		regulator-always-on;
+		regulator-boot-on;
+		bootph-all;
+	};
+
+	vdd_3v3: regulator-2 {
+		compatible = "regulator-fixed";
+		regulator-name = "vdd_3v3";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		vin-supply = <&vsys_5v0>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+
+	vdd_mmc1: regulator-mmc1 {
+		compatible = "regulator-fixed";
+		regulator-name = "vdd_mmc1";
+		pinctrl-names = "default";
+		pinctrl-0 = <&vdd_3v3_sd_pins_default>;
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-boot-on;
+		enable-active-high;
+		gpio = <&main_gpio1 50 GPIO_ACTIVE_HIGH>;
+		bootph-all;
+	};
+
+	vdd_sd_dv: regulator-TLV71033 {
+		compatible = "regulator-gpio";
+		regulator-name = "tlv71033";
+		pinctrl-names = "default";
+		pinctrl-0 = <&vdd_sd_dv_pins_default>;
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-boot-on;
+		vin-supply = <&vsys_5v0>;
+		gpios = <&main_gpio1 49 GPIO_ACTIVE_HIGH>;
+		states = <1800000 0x0>,
+			 <3300000 0x1>;
+	};
+
+	vsys_io_1v8: regulator-vsys-io-1v8 {
+		compatible = "regulator-fixed";
+		regulator-name = "vsys_io_1v8";
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <1800000>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+
+	vsys_io_1v2: regulator-vsys-io-1v2 {
+		compatible = "regulator-fixed";
+		regulator-name = "vsys_io_1v2";
+		regulator-min-microvolt = <1200000>;
+		regulator-max-microvolt = <1200000>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+};
+
+&main_pmx0 {
+
+	main_i2c0_pins_default: main-i2c0-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x01e0, PIN_INPUT_PULLUP, 0) /* (D23) I2C0_SCL */
+			J722S_IOPAD(0x01e4, PIN_INPUT_PULLUP, 0) /* (B22) I2C0_SDA */
+		>;
+		bootph-all;
+	};
+
+	main_uart0_pins_default: main-uart0-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x01c8, PIN_INPUT, 0)	/* (A22) UART0_RXD */
+			J722S_IOPAD(0x01cc, PIN_OUTPUT, 0)	/* (B22) UART0_TXD */
+		>;
+		bootph-all;
+	};
+
+	vdd_sd_dv_pins_default: vdd-sd-dv-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x0244, PIN_OUTPUT, 7) /* (A24) MMC1_SDWP.GPIO1_49 */
+		>;
+		bootph-all;
+	};
+
+	main_mmc1_pins_default: main-mmc1-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x023c, PIN_INPUT, 0) /* (H22) MMC1_CMD */
+			J722S_IOPAD(0x0234, PIN_OUTPUT, 0) /* (H24) MMC1_CLK */
+			J722S_IOPAD(0x0230, PIN_INPUT, 0) /* (H23) MMC1_DAT0 */
+			J722S_IOPAD(0x022c, PIN_INPUT_PULLUP, 0) /* (H20) MMC1_DAT1 */
+			J722S_IOPAD(0x0228, PIN_INPUT_PULLUP, 0) /* (J23) MMC1_DAT2 */
+			J722S_IOPAD(0x0224, PIN_INPUT_PULLUP, 0) /* (H25) MMC1_DAT3 */
+			J722S_IOPAD(0x0240, PIN_INPUT, 0) /* (B24) MMC1_SDCD */
+		>;
+		bootph-all;
+	};
+
+	mdio_pins_default: mdio-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x0160, PIN_OUTPUT, 0) /* (AC24) MDIO0_MDC */
+			J722S_IOPAD(0x015c, PIN_INPUT, 0) /* (AD25) MDIO0_MDIO */
+		>;
+	};
+
+	rgmii1_pins_default: rgmii1-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x014c, PIN_INPUT, 0) /* (AC25) RGMII1_RD0 */
+			J722S_IOPAD(0x0150, PIN_INPUT, 0) /* (AD27) RGMII1_RD1 */
+			J722S_IOPAD(0x0154, PIN_INPUT, 0) /* (AE24) RGMII1_RD2 */
+			J722S_IOPAD(0x0158, PIN_INPUT, 0) /* (AE26) RGMII1_RD3 */
+			J722S_IOPAD(0x0148, PIN_INPUT, 0) /* (AE27) RGMII1_RXC */
+			J722S_IOPAD(0x0144, PIN_INPUT, 0) /* (AD23) RGMII1_RX_CTL */
+			J722S_IOPAD(0x0134, PIN_OUTPUT, 0) /* (AF27) RGMII1_TD0 */
+			J722S_IOPAD(0x0138, PIN_OUTPUT, 0) /* (AE23) RGMII1_TD1 */
+			J722S_IOPAD(0x013c, PIN_OUTPUT, 0) /* (AG25) RGMII1_TD2 */
+			J722S_IOPAD(0x0140, PIN_OUTPUT, 0) /* (AF24) RGMII1_TD3 */
+			J722S_IOPAD(0x0130, PIN_OUTPUT, 0) /* (AG26) RGMII1_TXC */
+			J722S_IOPAD(0x012c, PIN_OUTPUT, 0) /* (AF25) RGMII1_TX_CTL */
+		>;
+	};
+
+	pmic_irq_pins_default: pmic-irq-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x01f4, PIN_INPUT_PULLUP, 0) /* (B23) EXTINTn */
+		>;
+	};
+
+	vdd_3v3_sd_pins_default: vdd-3v3-sd-default-pins {
+		pinctrl-single,pins = <
+			J722S_IOPAD(0x0254, PIN_OUTPUT, 7) /* (E25) USB0_DRVVBUS.GPIO1_50 */
+		>;
+	};
+};
+
+&cpsw3g {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&rgmii1_pins_default>, <&gbe_pmx_obsclk>;
+
+	assigned-clocks = <&k3_clks 227 0>;
+	assigned-clock-parents = <&k3_clks 227 6>;
+};
+
+&cpsw3g_mdio {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&mdio_pins_default>;
+
+	cpsw3g_phy0: ethernet-phy@0 {
+		reg = <0>;
+		ti,rx-internal-delay = <DP83867_RGMIIDCTL_2_00_NS>;
+		ti,fifo-depth = <DP83867_PHYCR_FIFO_DEPTH_4_B_NIB>;
+		ti,min-output-impedance;
+	};
+};
+
+&cpsw_port1 {
+	phy-mode = "rgmii-rxid";
+	phy-handle = <&cpsw3g_phy0>;
+	status = "okay";
+};
+
+&main_gpio1 {
+	status = "okay";
+};
+
+&main_uart0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_uart0_pins_default>;
+	status = "okay";
+	bootph-all;
+};
+
+&mcu_pmx0 {
+
+	wkup_uart0_pins_default: wkup-uart0-default-pins {
+		pinctrl-single,pins = <
+			J722S_MCU_IOPAD(0x02c, PIN_INPUT, 0)	/* (C7) WKUP_UART0_CTSn */
+			J722S_MCU_IOPAD(0x030, PIN_OUTPUT, 0)	/* (C6) WKUP_UART0_RTSn */
+			J722S_MCU_IOPAD(0x024, PIN_INPUT, 0)	/* (D8) WKUP_UART0_RXD */
+			J722S_MCU_IOPAD(0x028, PIN_OUTPUT, 0)	/* (D7) WKUP_UART0_TXD */
+		>;
+		bootph-all;
+	};
+
+	wkup_i2c0_pins_default: wkup-i2c0-default-pins {
+		pinctrl-single,pins = <
+			J722S_MCU_IOPAD(0x04c, PIN_INPUT_PULLUP, 0)	/* (C7) WKUP_I2C0_SCL */
+			J722S_MCU_IOPAD(0x050, PIN_INPUT_PULLUP, 0)	/* (C6) WKUP_I2C1_SDA */
+		>;
+		bootph-all;
+	};
+
+	gbe_pmx_obsclk: gbe-pmx-obsclk-default-pins {
+		pinctrl-single,pins = <
+			J722S_MCU_IOPAD(0x0004, PIN_OUTPUT, 1) /* (A10) MCU_SPI0_CS1.MCU_OBSCLK0 */
+		>;
+	};
+};
+
+&wkup_uart0 {
+	/* WKUP UART0 is used by Device Manager firmware */
+	pinctrl-names = "default";
+	pinctrl-0 = <&wkup_uart0_pins_default>;
+	status = "reserved";
+	bootph-all;
+};
+
+&wkup_i2c0 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&wkup_i2c0_pins_default>;
+	clock-frequency = <400000>;
+	status = "okay";
+	bootph-all;
+
+	tps65219: pmic@30 {
+		bootph-all;
+		compatible = "ti,tps65219";
+		reg = <0x30>;
+		buck1-supply = <&vsys_5v0>;
+		buck2-supply = <&vsys_5v0>;
+		buck3-supply = <&vsys_5v0>;
+		ldo1-supply = <&vdd_3v3>;
+		ldo3-supply = <&vdd_3v3>;
+		ldo4-supply = <&vdd_3v3>;
+
+		pinctrl-names = "default";
+		pinctrl-0 = <&pmic_irq_pins_default>;
+		interrupt-parent = <&gic500>;
+		interrupts = <GIC_SPI 224 IRQ_TYPE_LEVEL_HIGH>;
+		interrupt-controller;
+		#interrupt-cells = <1>;
+
+		system-power-controller;
+		ti,power-button;
+
+		regulators {
+			buck1_reg: buck1 {
+				regulator-name = "VDD_3V3";
+				regulator-min-microvolt = <3300000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+
+			buck2_reg: buck2 {
+				regulator-name = "VDD_1V8";
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <1800000>;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+
+			buck3_reg: buck3 {
+				/* Regulator is left as is unused */
+			};
+
+			ldo1_reg: ldo1 {
+				regulator-name = "VDDSHV5_SDIO";
+				regulator-min-microvolt = <3300000>;
+				regulator-max-microvolt = <3300000>;
+				regulator-allow-bypass;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+
+			ldo2_reg: ldo2 {
+				regulator-name = "VDD_1V2";
+				regulator-min-microvolt = <1200000>;
+				regulator-max-microvolt = <1200000>;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+
+			ldo3_reg: ldo3 {
+				regulator-name = "VDDA_PHY_1V8";
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <1800000>;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+
+			ldo4_reg: ldo4 {
+				regulator-name = "VDDA_PLL_1V8";
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <1800000>;
+				regulator-boot-on;
+				regulator-always-on;
+			};
+		};
+	};
+};
+
+&sdhci1 {
+	/* SD/MMC */
+	vmmc-supply = <&vdd_mmc1>;
+	vqmmc-supply = <&vdd_sd_dv>;
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_mmc1_pins_default>;
+	ti,driver-strength-ohm = <50>;
+	disable-wp;
+	status = "okay";
+	bootph-all;
+};
