diff --git a/drivers/sensor/apds9960/Kconfig b/drivers/sensor/apds9960/Kconfig
index 7f6b4bb00a5bd..986372139d5ab 100644
--- a/drivers/sensor/apds9960/Kconfig
+++ b/drivers/sensor/apds9960/Kconfig
@@ -135,4 +135,20 @@ config APDS9960_PPULSE_COUNT
 	range 1 64
 	default 8
 
+config APDS9960_ENABLE_GESTURE
+	bool "Gesture Sense"
+	default n
+	help
+	  Enable Gesture Sense.
+
+config APDS9960_GESTURE_PROXIMITY
+	int "Gesture Proximity Enter Threshold"
+	range 0 255
+	default 40
+
+config APDS9960_GESTURE_DIFFERENCE
+	int "Minimum IR diode difference for gesture"
+	range 0 255
+	default 5
+
 endif # APDS9960
diff --git a/drivers/sensor/apds9960/apds9960.c b/drivers/sensor/apds9960/apds9960.c
index 32bb14caa22d2..bc3d9431b392b 100644
--- a/drivers/sensor/apds9960/apds9960.c
+++ b/drivers/sensor/apds9960/apds9960.c
@@ -22,7 +22,7 @@
 #include <string.h>
 #include <zephyr/logging/log.h>
 
-#include "apds9960.h"
+#include <zephyr/drivers/sensor/apds9960.h>
 
 LOG_MODULE_REGISTER(APDS9960, CONFIG_SENSOR_LOG_LEVEL);
 
@@ -48,6 +48,112 @@ static void apds9960_gpio_callback(const struct device *dev,
 }
 #endif
 
+#if CONFIG_APDS9960_ENABLE_GESTURE
+static int apds9960_gesture_fetch(const struct device *dev)
+{
+	const struct apds9960_config *config = dev->config;
+	struct apds9960_data *data = dev->data;
+
+	uint8_t gesture_fifo_cnt;
+	uint8_t gstatus;
+	uint8_t gesture_fifo[4];
+	int tmp_up;
+	int tmp_left;
+	int net_up = 0;
+	int net_left = 0;
+
+	bool up_trig = false;
+	bool down_trig = false;
+	bool left_trig = false;
+	bool right_trig = false;
+
+	data->gesture = APDS9960_GESTURE_NONE;
+
+	if (i2c_reg_read_byte_dt(&config->i2c,
+			APDS9960_GSTATUS_REG, &gstatus)) {
+		return -EIO;
+	}
+
+	while (gstatus & APDS9960_GSTATUS_GVALID) {
+		if (i2c_reg_read_byte_dt(&config->i2c,
+					APDS9960_GFLVL_REG, &gesture_fifo_cnt)) {
+			return -EIO;
+		}
+
+		for (int i = 0; i < gesture_fifo_cnt; ++i) {
+			/* Read up fifo and adjacent registers */
+			if (i2c_burst_read_dt(&config->i2c,
+					APDS9960_GFIFO_U_REG,
+					(uint8_t *) gesture_fifo,
+					4)) {
+				return -EIO;
+			}
+
+			tmp_up = (int) gesture_fifo[0] - (int) gesture_fifo[1];
+			tmp_left = (int) gesture_fifo[2] - (int) gesture_fifo[3];
+
+			if (abs(tmp_up) > CONFIG_APDS9960_GESTURE_DIFFERENCE) {
+				net_up = tmp_up;
+			}
+			if (abs(tmp_left) > CONFIG_APDS9960_GESTURE_DIFFERENCE) {
+				net_left = tmp_left;
+			}
+
+			if (net_up > 0) {
+				if (down_trig) {
+					data->gesture = APDS9960_GESTURE_DOWN;
+					up_trig = false;
+					down_trig = false;
+					left_trig = false;
+					right_trig = false;
+				} else {
+					up_trig = true;
+				}
+			} else if (net_up < 0) {
+				if (up_trig) {
+					data->gesture = APDS9960_GESTURE_UP;
+					up_trig = false;
+					down_trig = false;
+					left_trig = false;
+					right_trig = false;
+				} else {
+					down_trig = true;
+				}
+			}
+			if (net_left > 0) {
+				if (right_trig) {
+					data->gesture = APDS9960_GESTURE_RIGHT;
+					up_trig = false;
+					down_trig = false;
+					left_trig = false;
+					right_trig = false;
+				} else {
+					left_trig = true;
+				}
+			} else if (net_left < 0) {
+				if (left_trig) {
+					data->gesture = APDS9960_GESTURE_LEFT;
+					up_trig = false;
+					down_trig = false;
+					left_trig = false;
+					right_trig = false;
+				} else {
+					right_trig = true;
+				}
+			}
+		}
+
+		if (i2c_reg_read_byte_dt(&config->i2c,
+				APDS9960_GSTATUS_REG, &gstatus)) {
+			return -EIO;
+		}
+	}
+	LOG_DBG("Net up: 0x%x, Net left: 0x%x", net_up, net_left);
+
+	return 0;
+}
+#endif
+
 static int apds9960_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
@@ -63,6 +169,12 @@ static int apds9960_sample_fetch(const struct device *dev,
 		return -ENOTSUP;
 	}
 
+#ifdef CONFIG_APDS9960_ENABLE_GESTURE
+	if (apds9960_gesture_fetch(dev)) {
+		return -EIO;
+	}
+#endif
+
 #ifndef CONFIG_APDS9960_TRIGGER
 #ifdef CONFIG_APDS9960_FETCH_MODE_INTERRUPT
 	apds9960_setup_int(config, true);
@@ -90,16 +202,9 @@ static int apds9960_sample_fetch(const struct device *dev,
 	start_time = k_uptime_get();
 #ifdef CONFIG_APDS9960_ENABLE_ALS
 	while (!(tmp & APDS9960_STATUS_AINT)) {
-		k_sleep(K_MSEC(APDS9960_DEFAULT_WAIT_TIME));
-		if (i2c_reg_read_byte_dt(&config->i2c, APDS9960_STATUS_REG, &tmp)) {
-			return -EIO;
-		}
-		if ((k_uptime_get() - start_time) > APDS9960_MAX_WAIT_TIME) {
-			return -ETIMEDOUT;
-		}
-	}
 #else
 	while (!(tmp & APDS9960_STATUS_PINT)) {
+#endif
 		k_sleep(K_MSEC(APDS9960_DEFAULT_WAIT_TIME));
 		if (i2c_reg_read_byte_dt(&config->i2c, APDS9960_STATUS_REG, &tmp)) {
 			return -EIO;
@@ -108,7 +213,6 @@ static int apds9960_sample_fetch(const struct device *dev,
 			return -ETIMEDOUT;
 		}
 	}
-#endif
 #endif
 
 	LOG_DBG("status: 0x%x", tmp);
@@ -172,6 +276,12 @@ static int apds9960_channel_get(const struct device *dev,
 		val->val1 = sys_le16_to_cpu(data->sample_crgb[3]);
 		val->val2 = 0;
 		break;
+#endif
+#ifdef CONFIG_APDS9960_ENABLE_GESTURE
+	case SENSOR_CHAN_APDS9960_GESTURE:
+		val->val1 = data->gesture;
+		val->val2 = 0;
+		break;
 #endif
 	case SENSOR_CHAN_PROX:
 		val->val1 = data->pdata;
@@ -304,6 +414,45 @@ static int apds9960_ambient_setup(const struct device *dev)
 }
 #endif
 
+#ifdef CONFIG_APDS9960_ENABLE_GESTURE
+static int apds9960_gesture_setup(const struct device *dev)
+{
+	const struct apds9960_config *config = dev->config;
+
+	if (i2c_reg_write_byte_dt(&config->i2c,
+				APDS9960_GPENTH_REG, CONFIG_APDS9960_GESTURE_PROXIMITY)) {
+		LOG_ERR("Gesture proximity enter not set.");
+		return -EIO;
+	}
+	if (i2c_reg_write_byte_dt(&config->i2c,
+			       APDS9960_GEXTH_REG, CONFIG_APDS9960_GESTURE_PROXIMITY)) {
+		LOG_ERR("Gesture interrupt not set.");
+		return -EIO;
+	}
+	if (i2c_reg_write_byte_dt(&config->i2c,
+			       APDS9960_GCONFIG1_REG, 0)) {
+		LOG_ERR("Gesture interrupt not set.");
+		return -EIO;
+	}
+	if (i2c_reg_write_byte_dt(&config->i2c,
+			       APDS9960_GCONFIG2_REG, APDS9960_GGAIN_4X)) {
+		LOG_ERR("Gesture interrupt not set.");
+		return -EIO;
+	}
+	if (i2c_reg_write_byte_dt(&config->i2c,
+			       APDS9960_GCONFIG4_REG, 0)) {
+		LOG_ERR("Gesture interrupt not set.");
+		return -EIO;
+	}
+	if (i2c_reg_update_byte_dt(&config->i2c, APDS9960_ENABLE_REG, APDS9960_ENABLE_GEN,
+				   APDS9960_ENABLE_GEN)) {
+		LOG_ERR("Gesture on bit not set.");
+		return -EIO;
+	}
+	return 0;
+}
+#endif
+
 static int apds9960_sensor_setup(const struct device *dev)
 {
 	const struct apds9960_config *config = dev->config;
@@ -385,6 +534,13 @@ static int apds9960_sensor_setup(const struct device *dev)
 	}
 #endif
 
+#ifdef CONFIG_APDS9960_ENABLE_GESTURE
+	if (apds9960_gesture_setup(dev)) {
+		LOG_ERR("Failed to setup gesture functionality");
+		return -EIO;
+	}
+#endif
+
 #ifdef CONFIG_APDS9960_FETCH_MODE_POLL
 	if (i2c_reg_update_byte_dt(&config->i2c, APDS9960_ENABLE_REG, APDS9960_ENABLE_PON,
 				   APDS9960_ENABLE_PON)) {
diff --git a/drivers/sensor/apds9960/apds9960_trigger.c b/drivers/sensor/apds9960/apds9960_trigger.c
index 245fdab68fba0..d8a7a3d2a2924 100644
--- a/drivers/sensor/apds9960/apds9960_trigger.c
+++ b/drivers/sensor/apds9960/apds9960_trigger.c
@@ -10,7 +10,7 @@
 #include <zephyr/sys/util.h>
 #include <zephyr/kernel.h>
 #include <zephyr/drivers/sensor.h>
-#include "apds9960.h"
+#include <zephyr/drivers/sensor/apds9960.h>
 
 extern struct apds9960_data apds9960_driver;
 
diff --git a/drivers/sensor/apds9960/apds9960.h b/include/zephyr/drivers/sensor/apds9960.h
similarity index 96%
rename from drivers/sensor/apds9960/apds9960.h
rename to include/zephyr/drivers/sensor/apds9960.h
index d40d12ac3fd46..df6d3a1dec186 100644
--- a/drivers/sensor/apds9960/apds9960.h
+++ b/include/zephyr/drivers/sensor/apds9960.h
@@ -9,6 +9,7 @@
 #define ZEPHYR_DRIVERS_SENSOR_APDS9960_APDS9960_H_
 
 #include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
 
 #define APDS9960_ENABLE_REG		0x80
 #define APDS9960_ENABLE_GEN		BIT(6)
@@ -227,12 +228,26 @@ struct apds9960_config {
 	uint8_t pled_boost;
 };
 
+/* apds9960 specific channels */
+enum sensor_channel_apds9960 {
+	SENSOR_CHAN_APDS9960_GESTURE = SENSOR_CHAN_PRIV_START,
+};
+
+enum apds9960_gesture {
+	APDS9960_GESTURE_NONE,
+	APDS9960_GESTURE_UP,
+	APDS9960_GESTURE_DOWN,
+	APDS9960_GESTURE_LEFT,
+	APDS9960_GESTURE_RIGHT,
+};
+
 struct apds9960_data {
 	struct gpio_callback gpio_cb;
 	struct k_work work;
 	const struct device *dev;
 	uint16_t sample_crgb[4];
 	uint8_t pdata;
+	enum apds9960_gesture gesture;
 
 #ifdef CONFIG_APDS9960_TRIGGER
 	sensor_trigger_handler_t p_th_handler;
diff --git a/samples/sensor/apds9960/prj.conf b/samples/sensor/apds9960/prj.conf
index 9f4b4aa1c8c87..8147a7762c95e 100644
--- a/samples/sensor/apds9960/prj.conf
+++ b/samples/sensor/apds9960/prj.conf
@@ -9,3 +9,5 @@ CONFIG_I2C_LOG_LEVEL_INF=y
 
 CONFIG_APDS9960_TRIGGER_GLOBAL_THREAD=n
 CONFIG_PM_DEVICE=n
+
+CONFIG_APDS9960_ENABLE_GESTURE=n
diff --git a/samples/sensor/apds9960/src/main.c b/samples/sensor/apds9960/src/main.c
index ab96ae7990f18..220992631b6e7 100644
--- a/samples/sensor/apds9960/src/main.c
+++ b/samples/sensor/apds9960/src/main.c
@@ -7,6 +7,7 @@
 
 #include <zephyr/kernel.h>
 #include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/sensor/apds9960.h>
 #include <zephyr/device.h>
 #include <stdio.h>
 #include <zephyr/sys/printk.h>
@@ -24,10 +25,18 @@ static void trigger_handler(const struct device *dev,
 }
 #endif
 
+char states[5][6] = {
+	"NONE",
+	"UP",
+	"DOWN",
+	"LEFT",
+	"RIGHT",
+};
+
 int main(void)
 {
 	const struct device *dev;
-	struct sensor_value intensity, pdata;
+	struct sensor_value intensity, pdata, gesture;
 
 	printk("APDS9960 sample application\n");
 	dev = DEVICE_DT_GET_ONE(avago_apds9960);
@@ -72,9 +81,10 @@ int main(void)
 
 		sensor_channel_get(dev, SENSOR_CHAN_LIGHT, &intensity);
 		sensor_channel_get(dev, SENSOR_CHAN_PROX, &pdata);
+		sensor_channel_get(dev, SENSOR_CHAN_APDS9960_GESTURE, &gesture);
 
-		printk("ambient light intensity %d, proximity %d\n",
-		       intensity.val1, pdata.val1);
+		printk("ambient light intensity %d, proximity %d, gesture %s\n",
+		       intensity.val1, pdata.val1, states[gesture.val1]);
 
 #ifdef CONFIG_PM_DEVICE
 		pm_device_action_run(dev, PM_DEVICE_ACTION_SUSPEND);