diff --git a/boards/arm/beagle_bcf/beagleconnect_freedom.dts b/boards/arm/beagle_bcf/beagleconnect_freedom.dts
index 3f6fcafaa2187..9f8c84df95601 100644
--- a/boards/arm/beagle_bcf/beagleconnect_freedom.dts
+++ b/boards/arm/beagle_bcf/beagleconnect_freedom.dts
@@ -59,7 +59,7 @@
 
 	sens_i2c: sensor-switch {
 		status = "okay";
-		compatible = "ti,ts5a2066";
+		compatible = "gpio-i2c-switch";
 		#address-cells = <1>;
 		#size-cells = <0>;
 		controller = <&i2c0>;
diff --git a/drivers/i2c/CMakeLists.txt b/drivers/i2c/CMakeLists.txt
index 20ea5c0cb1e38..f7f363ed8d416 100644
--- a/drivers/i2c/CMakeLists.txt
+++ b/drivers/i2c/CMakeLists.txt
@@ -54,6 +54,7 @@ zephyr_library_sources_ifdef(CONFIG_I2C_XILINX_AXI	i2c_xilinx_axi.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_MCHP_MSS		i2c_mchp_mss.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_SEDI		i2c_sedi.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_AMBIQ		i2c_ambiq.c)
+zephyr_library_sources_ifdef(CONFIG_GPIO_I2C_SWITCH	gpio_i2c_switch.c)
 
 zephyr_library_sources_ifdef(CONFIG_I2C_STM32_V1
 	i2c_ll_stm32_v1.c
diff --git a/drivers/i2c/Kconfig b/drivers/i2c/Kconfig
index 5f62fbb4eb1e9..2523877c8513d 100644
--- a/drivers/i2c/Kconfig
+++ b/drivers/i2c/Kconfig
@@ -195,4 +195,11 @@ config I2C_RV32M1_LPI2C
 	help
 	  Enable the RV32M1 LPI2C driver.
 
+config GPIO_I2C_SWITCH
+	bool "GPIO controlled I2C bus switch"
+	default y
+	depends on DT_HAS_GPIO_I2C_SWITCH_ENABLED
+	help
+	  Enable GPIO controlled I2C bus switch driver.
+
 endif # I2C
diff --git a/drivers/i2c/gpio_i2c_switch.c b/drivers/i2c/gpio_i2c_switch.c
new file mode 100644
index 0000000000000..938ed11d769dc
--- /dev/null
+++ b/drivers/i2c/gpio_i2c_switch.c
@@ -0,0 +1,95 @@
+/*
+ * Copyright (c) 2023 Ayush Singh <ayushdevel1325@gmail.com>
+ * Copyright (c) 2021 Jason Kridner, BeagleBoard.org Foundation
+ * Copyright (c) 2020 Innoseis BV
+ *
+ * Based on i2c_tca9656a.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT gpio_i2c_switch
+
+#define GPIO_I2C_TOGGLE_DELAY_US 1
+#define GPIO_I2C_LOCK_TIMEOUT_US   (GPIO_I2C_TOGGLE_DELAY_US * 2 + 100)
+
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/logging/log.h>
+
+LOG_MODULE_REGISTER(gpio_i2c_switch, CONFIG_I2C_LOG_LEVEL);
+
+struct gpio_i2c_switch_config {
+	const struct device *bus;
+	const struct gpio_dt_spec gpio;
+};
+
+struct gpio_i2c_switch_data {
+	struct k_mutex lock;
+};
+
+static int gpio_i2c_switch_configure(const struct device *dev, uint32_t dev_config)
+{
+	const struct gpio_i2c_switch_config *config = dev->config;
+
+	return i2c_configure(config->bus, dev_config);
+}
+
+static int gpio_i2c_switch_transfer(const struct device *dev, struct i2c_msg *msgs,
+				    uint8_t num_msgs, uint16_t addr)
+{
+	int res;
+	struct gpio_i2c_switch_data *data = dev->data;
+	const struct gpio_i2c_switch_config *config = dev->config;
+
+	res = k_mutex_lock(&data->lock, K_USEC(GPIO_I2C_LOCK_TIMEOUT_US));
+	if (res != 0) {
+		return res;
+	}
+
+	/* enable switch */
+	gpio_pin_configure_dt(&config->gpio, GPIO_OUTPUT_HIGH);
+	k_busy_wait(GPIO_I2C_TOGGLE_DELAY_US);
+
+	res = i2c_transfer(config->bus, msgs, num_msgs, addr);
+
+	/* disable switch */
+	gpio_pin_configure_dt(&config->gpio, GPIO_OUTPUT_LOW);
+	k_busy_wait(GPIO_I2C_TOGGLE_DELAY_US);
+	k_mutex_unlock(&data->lock);
+
+	return res;
+}
+
+const struct i2c_driver_api gpio_i2c_switch_api_funcs = {
+	.configure = gpio_i2c_switch_configure,
+	.transfer = gpio_i2c_switch_transfer,
+};
+
+static int gpio_i2c_switch_init(const struct device *dev)
+{
+	const struct gpio_i2c_switch_config *config = dev->config;
+	struct gpio_i2c_switch_data *data = dev->data;
+
+	k_mutex_init(&data->lock);
+
+	return gpio_pin_configure_dt(&config->gpio, GPIO_OUTPUT_LOW);
+}
+
+#define DEFINE_GPIO_I2C_SWITCH(inst)                                                               \
+                                                                                                   \
+	static struct gpio_i2c_switch_data gpio_i2c_switch_dev_data_##inst;                        \
+                                                                                                   \
+	static const struct gpio_i2c_switch_config gpio_i2c_switch_dev_cfg_##inst = {              \
+		.bus = DEVICE_DT_GET(DT_PHANDLE(DT_DRV_INST(inst), controller)),                   \
+		.gpio = GPIO_DT_SPEC_GET(DT_DRV_INST(inst), gpios),                                \
+	};                                                                                         \
+                                                                                                   \
+	DEVICE_DT_INST_DEFINE(inst, gpio_i2c_switch_init, device_pm_control_nop,                   \
+			      &gpio_i2c_switch_dev_data_##inst, &gpio_i2c_switch_dev_cfg_##inst,   \
+			      POST_KERNEL, CONFIG_I2C_INIT_PRIORITY, &gpio_i2c_switch_api_funcs);
+
+DT_INST_FOREACH_STATUS_OKAY(DEFINE_GPIO_I2C_SWITCH)
diff --git a/dts/bindings/i2c/gpio-i2c-switch.yaml b/dts/bindings/i2c/gpio-i2c-switch.yaml
new file mode 100644
index 0000000000000..ebd932afc710f
--- /dev/null
+++ b/dts/bindings/i2c/gpio-i2c-switch.yaml
@@ -0,0 +1,24 @@
+# Copyright (c) 2023, Ayush Singh <ayushdevel1325@gmail.com>
+# Copyright (c) 2021, Jason Kridner, BeagleBoard.org Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+  GPIO enabled analog switch to isolate devices from an I2C bus
+
+compatible: "gpio-i2c-switch"
+
+include: i2c-controller.yaml
+
+properties:
+  "#address-cells":
+    required: true
+    const: 1
+  "#size-cells":
+    required: true
+    const: 0
+  controller:
+    type: phandle
+    required: true
+  gpios:
+    type: phandle-array
+    required: true