diff --git a/cmake/compiler/gcc/compiler_flags.cmake b/cmake/compiler/gcc/compiler_flags.cmake
index 2dbb1e3e08eae..cfa594d4314de 100644
--- a/cmake/compiler/gcc/compiler_flags.cmake
+++ b/cmake/compiler/gcc/compiler_flags.cmake
@@ -104,6 +104,7 @@ set_compiler_property(PROPERTY warning_error_coding_guideline
 set_compiler_property(PROPERTY cstd -std=)
 
 if (NOT CONFIG_NEWLIB_LIBC AND
+    NOT (CONFIG_PICOLIBC AND NOT CONFIG_PICOLIBC_USE_MODULE) AND
     NOT COMPILER STREQUAL "xcc" AND
     NOT CONFIG_HAS_ESPRESSIF_HAL AND
     NOT CONFIG_NATIVE_APPLICATION)
diff --git a/lib/cpp/Kconfig b/lib/cpp/Kconfig
index b7bfbf24b1a99..131415b87aad2 100644
--- a/lib/cpp/Kconfig
+++ b/lib/cpp/Kconfig
@@ -85,7 +85,7 @@ config MINIMAL_LIBCPP
 config GLIBCXX_LIBCPP
 	bool "GNU C++ Standard Library"
 	depends on !NATIVE_APPLICATION
-	depends on NEWLIB_LIBC || (PICOLIBC && !PICOLIBC_USE_MODULE)
+	depends on NEWLIB_LIBC || PICOLIBC
 	help
 	  Build with GNU C++ Standard Library (libstdc++) provided by the GNU
 	  Compiler Collection (GCC)-based toolchain.
diff --git a/lib/libc/Kconfig b/lib/libc/Kconfig
index 697a6ee99439d..9e8b618975f40 100644
--- a/lib/libc/Kconfig
+++ b/lib/libc/Kconfig
@@ -15,10 +15,12 @@ config SUPPORT_MINIMAL_LIBC
 	bool
 	default y
 
+# Picolibc with C++ support in Zephyr SDK is handled by Zephyr SDK's own Kconfig.
 config PICOLIBC_SUPPORTED
 	bool
 	depends on ARC || ARM || ARM64 || MIPS || RISCV
 	depends on "$(ZEPHYR_TOOLCHAIN_VARIANT)" != "arcmwdt"
+	depends on !(CPP && "$(ZEPHYR_TOOLCHAIN_VARIANT)" = "zephyr")
 	default y
 	help
 	  Selected when the target has support for picolibc.
@@ -42,6 +44,7 @@ config PICOLIBC
 	select THREAD_LOCAL_STORAGE if ARCH_HAS_THREAD_LOCAL_STORAGE && TOOLCHAIN_SUPPORTS_THREAD_LOCAL_STORAGE
 	select LIBC_ERRNO if THREAD_LOCAL_STORAGE
 	depends on !NATIVE_APPLICATION
+	depends on PICOLIBC_SUPPORTED
 	help
 	  Build with picolibc library. The picolibc library is built as
 	  a module if PICOLIBC_MODULE is set, otherwise picolibc is
diff --git a/lib/libc/picolibc/Kconfig b/lib/libc/picolibc/Kconfig
index 492a02a87f03c..b52301fff716a 100644
--- a/lib/libc/picolibc/Kconfig
+++ b/lib/libc/picolibc/Kconfig
@@ -4,9 +4,10 @@
 if PICOLIBC
 
 config PICOLIBC_USE_MODULE
-	bool "Use picolibc module"
+	bool "Picolibc as module"
 	default y
-	select PICOLIBC_MODULE
+	depends on ZEPHYR_PICOLIBC_MODULE
+	depends on !GLIBCXX_LIBCPP
 	help
 	  Use picolibc module instead of picolibc included with toolchain
 
diff --git a/samples/cpp/cpp_synchronization/sample.yaml b/samples/cpp/cpp_synchronization/sample.yaml
index e3e9669a1ad09..2b9311e2067c3 100644
--- a/samples/cpp/cpp_synchronization/sample.yaml
+++ b/samples/cpp/cpp_synchronization/sample.yaml
@@ -13,3 +13,18 @@ tests:
         - "Create semaphore (.*)"
         - "main: Hello World!"
         - "coop_thread_entry: Hello World!"
+  sample.cpp.synchronization.picolibc:
+    filter: CONFIG_PICOLIBC_SUPPORTED
+    extra_configs:
+      - CONFIG_PICOLIBC=y
+    tags: cpp
+    toolchain_exclude: issm xcc
+    integration_platforms:
+      - qemu_x86
+    harness: console
+    harness_config:
+      type: multi_line
+      regex:
+        - "Create semaphore (.*)"
+        - "main: Hello World!"
+        - "coop_thread_entry: Hello World!"
diff --git a/tests/lib/cpp/libcxx/testcase.yaml b/tests/lib/cpp/libcxx/testcase.yaml
index 3a1371345b506..a57941b182792 100644
--- a/tests/lib/cpp/libcxx/testcase.yaml
+++ b/tests/lib/cpp/libcxx/testcase.yaml
@@ -23,6 +23,17 @@ tests:
       - CONFIG_GLIBCXX_LIBCPP=y
     integration_platforms:
       - mps2_an385
+  cpp.libcxx.glibcxx.picolibc:
+    filter: TOOLCHAIN_HAS_PICOLIBC == 1
+    toolchain_exclude: xcc
+    tags: cpp
+    timeout: 60
+    extra_configs:
+      - CONFIG_PICOLIBC=y
+      - CONFIG_GLIBCXX_LIBCPP=y
+      - CONFIG_CPP_EXCEPTIONS=y
+    integration_platforms:
+      - mps2_an385
   cpp.libcxx.arcmwdtlib:
     toolchain_allow: arcmwdt
     min_flash: 54