diff --git a/common/usb_osal.h b/common/usb_osal.h
index aa2f1336..f6489f10 100644
--- a/common/usb_osal.h
+++ b/common/usb_osal.h
@@ -13,6 +13,9 @@
 #ifdef __INCLUDE_NUTTX_CONFIG_H
 #define CONFIG_USB_OSAL_THREAD_SET_ARGV int argc, char **argv
 #define CONFIG_USB_OSAL_THREAD_GET_ARGV ((uintptr_t)strtoul(argv[1], NULL, 16))
+#elif defined(__ZEPHYR__)
+#define CONFIG_USB_OSAL_THREAD_SET_ARGV void *p1, void *p2, void *p3
+#define CONFIG_USB_OSAL_THREAD_GET_ARGV ((uintptr_t)p1)
 #else
 #define CONFIG_USB_OSAL_THREAD_SET_ARGV void *argument
 #define CONFIG_USB_OSAL_THREAD_GET_ARGV ((uintptr_t)argument)
diff --git a/osal/usb_osal_zephyr.c b/osal/usb_osal_zephyr.c
new file mode 100644
index 00000000..68a14efe
--- /dev/null
+++ b/osal/usb_osal_zephyr.c
@@ -0,0 +1,237 @@
+/*
+ * Copyright (c) 2025, sakumisu
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "usb_osal.h"
+#include "usb_errno.h"
+#include "usb_config.h"
+#include "usb_log.h"
+#include <zephyr/kernel.h>
+
+#ifndef CONFIG_THREAD_CUSTOM_DATA
+#error CONFIG_THREAD_CUSTOM_DATA must be enabled
+#endif
+
+struct k_thread_ext {
+    struct k_thread thread;
+    k_thread_stack_t *thread_stack;
+};
+
+usb_osal_thread_t usb_osal_thread_create(const char *name, uint32_t stack_size, uint32_t prio, usb_thread_entry_t entry, void *args)
+{
+    struct k_thread_ext *new_thread;
+
+    new_thread = k_malloc(sizeof(struct k_thread_ext));
+    new_thread->thread_stack = k_malloc(stack_size);
+    k_thread_create(&new_thread->thread, new_thread->thread_stack, stack_size, entry, args, NULL, NULL, prio, 0, K_NO_WAIT);
+    k_thread_custom_data_set((void *)new_thread);
+    k_thread_name_set(&new_thread->thread, name);
+
+    return (usb_osal_thread_t)new_thread;
+}
+
+void usb_osal_thread_delete(usb_osal_thread_t thread)
+{
+    struct k_thread_ext *new_thread;
+
+    if (thread == NULL) {
+        new_thread = (struct k_thread_ext *)k_thread_custom_data_get();
+    } else {
+        new_thread = (struct k_thread_ext *)thread;
+    }
+
+    k_thread_abort(&new_thread->thread);
+    k_free(new_thread->thread_stack);
+    k_free(new_thread);
+}
+
+usb_osal_sem_t usb_osal_sem_create(uint32_t initial_count)
+{
+    struct k_sem *sem;
+
+    sem = k_malloc(sizeof(struct k_sem));
+    k_sem_init(sem, initial_count, 1);
+
+    return (usb_osal_sem_t)sem;
+}
+
+void usb_osal_sem_delete(usb_osal_sem_t sem)
+{
+    while (k_sem_take((struct k_sem *)sem, K_NO_WAIT) != 0) {
+        break;
+    }
+    k_free((struct k_sem *)sem);
+}
+
+int usb_osal_sem_take(usb_osal_sem_t sem, uint32_t timeout)
+{
+    if (timeout == USB_OSAL_WAITING_FOREVER) {
+        return (k_sem_take((struct k_sem *)sem, K_FOREVER) == 0) ? 0 : -USB_ERR_TIMEOUT;
+    } else {
+        return (k_sem_take((struct k_sem *)sem, K_MSEC(timeout)) == 0) ? 0 : -USB_ERR_TIMEOUT;
+    }
+}
+
+int usb_osal_sem_give(usb_osal_sem_t sem)
+{
+    k_sem_give((struct k_sem *)sem);
+
+    return 0;
+}
+
+void usb_osal_sem_reset(usb_osal_sem_t sem)
+{
+    k_sem_reset((struct k_sem *)sem);
+}
+
+usb_osal_mutex_t usb_osal_mutex_create(void)
+{
+    struct k_mutex *mutex;
+
+    mutex = k_malloc(sizeof(struct k_mutex));
+    k_mutex_init(mutex);
+
+    return (usb_osal_mutex_t)mutex;
+}
+
+void usb_osal_mutex_delete(usb_osal_mutex_t mutex)
+{
+    k_free((struct k_mutex *)mutex);
+}
+
+int usb_osal_mutex_take(usb_osal_mutex_t mutex)
+{
+    return (k_mutex_lock((struct k_mutex *)mutex, K_FOREVER) == 0) ? 0 : -USB_ERR_TIMEOUT;
+}
+
+int usb_osal_mutex_give(usb_osal_mutex_t mutex)
+{
+    return (k_mutex_unlock((struct k_mutex *)mutex) == 0) ? 0 : -USB_ERR_INVAL;
+}
+
+usb_osal_mq_t usb_osal_mq_create(uint32_t max_msgs)
+{
+    struct k_msgq *msgq;
+    char *buffer;
+
+    msgq = k_malloc(sizeof(struct k_msgq));
+    buffer = k_calloc(max_msgs, sizeof(uintptr_t));
+
+    k_msgq_init(msgq, buffer, sizeof(uintptr_t), max_msgs);
+
+    return (usb_osal_mq_t)msgq;
+}
+
+void usb_osal_mq_delete(usb_osal_mq_t mq)
+{
+    struct k_msgq *msgq;
+    uintptr_t addr;
+
+    msgq = (struct k_msgq *)mq;
+
+    while (k_msgq_get(msgq, &addr, K_NO_WAIT) != 0) {
+        break;
+    }
+    k_free(msgq->buffer_start);
+    k_free(msgq);
+}
+
+int usb_osal_mq_send(usb_osal_mq_t mq, uintptr_t addr)
+{
+    struct k_msgq *msgq;
+
+    msgq = (struct k_msgq *)mq;
+
+    if (k_is_in_isr()) {
+        return (k_msgq_put(msgq, &addr, K_NO_WAIT) == 0) ? 0 : -USB_ERR_TIMEOUT;
+    } else {
+        return (k_msgq_put(msgq, &addr, K_FOREVER) == 0) ? 0 : -USB_ERR_TIMEOUT;
+    }
+}
+
+int usb_osal_mq_recv(usb_osal_mq_t mq, uintptr_t *addr, uint32_t timeout)
+{
+    struct k_msgq *msgq;
+
+    msgq = (struct k_msgq *)mq;
+
+    if (k_is_in_isr()) {
+        return (k_msgq_get(msgq, addr, K_NO_WAIT) == 0) ? 0 : -USB_ERR_TIMEOUT;
+    } else {
+        return (k_msgq_get(msgq, addr, K_FOREVER) == 0) ? 0 : -USB_ERR_TIMEOUT;
+    }
+}
+
+static void zephyr_timer_wrapper(struct k_timer *ktimer)
+{
+    struct usb_osal_timer *timer = (struct usb_osal_timer *)ktimer->user_data;
+
+    timer->handler(timer->argument);
+}
+
+struct usb_osal_timer *usb_osal_timer_create(const char *name, uint32_t timeout_ms, usb_timer_handler_t handler, void *argument, bool is_period)
+{
+    struct usb_osal_timer *timer;
+
+    (void)name;
+
+    timer = k_malloc(sizeof(struct usb_osal_timer));
+    timer->timer = k_malloc(sizeof(struct k_timer));
+
+    timer->handler = handler;
+    timer->argument = argument;
+    timer->is_period = is_period;
+    timer->ticks = timeout_ms;
+
+    k_timer_init(timer->timer, zephyr_timer_wrapper, NULL);
+    k_timer_user_data_set(timer->timer, timer);
+
+    return timer;
+}
+
+void usb_osal_timer_delete(struct usb_osal_timer *timer)
+{
+    k_timer_stop(timer->timer);
+    k_free(timer->timer);
+    k_free(timer);
+}
+
+void usb_osal_timer_start(struct usb_osal_timer *timer)
+{
+    if (timer->is_period) {
+        k_timer_start(timer->timer, K_MSEC(timer->ticks), K_MSEC(timer->ticks));
+    } else {
+        k_timer_start(timer->timer, K_MSEC(timer->ticks), K_NO_WAIT);
+    }
+}
+
+void usb_osal_timer_stop(struct usb_osal_timer *timer)
+{
+    k_timer_stop(timer->timer);
+}
+
+size_t usb_osal_enter_critical_section(void)
+{
+    return arch_irq_lock();
+}
+
+void usb_osal_leave_critical_section(size_t flag)
+{
+    arch_irq_unlock(flag);
+}
+
+void usb_osal_msleep(uint32_t delay)
+{
+    k_sleep(K_MSEC(delay));
+}
+
+void *usb_osal_malloc(size_t size)
+{
+    return k_malloc(size);
+}
+
+void usb_osal_free(void *ptr)
+{
+    k_free(ptr);
+}
\ No newline at end of file