diff --git a/drivers/net/mlx5/linux/mlx5_verbs.c b/drivers/net/mlx5/linux/mlx5_verbs.c
index dfbc5a1e08..b6ba21c216 100644
--- a/drivers/net/mlx5/linux/mlx5_verbs.c
+++ b/drivers/net/mlx5/linux/mlx5_verbs.c
@@ -1035,6 +1035,10 @@ mlx5_txq_ibv_obj_new(struct rte_eth_dev *dev, uint16_t idx)
 	txq_data->wqe_pi = 0;
 	txq_data->wqe_comp = 0;
 	txq_data->wqe_thres = txq_data->wqe_s / MLX5_TX_COMP_THRESH_INLINE_DIV;
+	txq_data->wait_on_time = !!(!priv->sh->config.tx_pp &&
+				 priv->sh->cdev->config.hca_attr.wait_on_time &&
+				 txq_data->offloads &
+				 RTE_ETH_TX_OFFLOAD_SEND_ON_TIMESTAMP);
 #ifdef HAVE_IBV_FLOW_DV_SUPPORT
 	/*
 	 * If using DevX need to query and store TIS transport domain value.
diff --git a/drivers/net/mlx5/mlx5.h b/drivers/net/mlx5/mlx5.h
index e7eaacc76f..0f465d0e9e 100644
--- a/drivers/net/mlx5/mlx5.h
+++ b/drivers/net/mlx5/mlx5.h
@@ -337,6 +337,9 @@ struct mlx5_lb_ctx {
 #define MLX5_CNT_ARRAY_IDX(pool, cnt) \
 	((int)(((uint8_t *)(cnt) - (uint8_t *)((pool) + 1)) / \
 	MLX5_CNT_LEN(pool)))
+#define MLX5_TS_MASK_SECS 8ull
+/* timestamp wrapping in seconds, must be  power of 2. */
+
 /*
  * The pool index and offset of counter in the pool array makes up the
  * counter index. In case the counter is from pool 0 and offset 0, it
diff --git a/drivers/net/mlx5/mlx5_devx.c b/drivers/net/mlx5/mlx5_devx.c
index f18b18b1a2..a9b8c2a1b7 100644
--- a/drivers/net/mlx5/mlx5_devx.c
+++ b/drivers/net/mlx5/mlx5_devx.c
@@ -1328,6 +1328,8 @@ mlx5_txq_devx_obj_new(struct rte_eth_dev *dev, uint16_t idx)
 	txq_data->qp_num_8s = txq_obj->sq_obj.sq->id << 8;
 	txq_data->db_heu = sh->cdev->config.dbnc == MLX5_SQ_DB_HEURISTIC;
 	txq_data->db_nc = sh->tx_uar.dbnc;
+	txq_data->wait_on_time = !!(!sh->config.tx_pp &&
+				    sh->cdev->config.hca_attr.wait_on_time);
 	/* Change Send Queue state to Ready-to-Send. */
 	ret = mlx5_txq_devx_modify(txq_obj, MLX5_TXQ_MOD_RST2RDY, 0);
 	if (ret) {
diff --git a/drivers/net/mlx5/mlx5_tx.h b/drivers/net/mlx5/mlx5_tx.h
index c4b8271f6f..b50deb8b67 100644
--- a/drivers/net/mlx5/mlx5_tx.h
+++ b/drivers/net/mlx5/mlx5_tx.h
@@ -138,6 +138,8 @@ struct mlx5_txq_data {
 	uint16_t vlan_en:1; /* VLAN insertion in WQE is supported. */
 	uint16_t db_nc:1; /* Doorbell mapped to non-cached region. */
 	uint16_t db_heu:1; /* Doorbell heuristic write barrier. */
+	uint16_t rt_timestamp:1; /* Realtime timestamp format. */
+	uint16_t wait_on_time:1; /* WQE with timestamp is supported. */
 	uint16_t fast_free:1; /* mbuf fast free on Tx is enabled. */
 	uint16_t inlen_send; /* Ordinary send data inline size. */
 	uint16_t inlen_empw; /* eMPW max packet size to inline. */
@@ -157,6 +159,7 @@ struct mlx5_txq_data {
 	volatile uint32_t *cq_db; /* Completion queue doorbell. */
 	uint16_t port_id; /* Port ID of device. */
 	uint16_t idx; /* Queue index. */
+	uint64_t rt_timemask; /* Scheduling timestamp mask. */
 	uint64_t ts_mask; /* Timestamp flag dynamic mask. */
 	int32_t ts_offset; /* Timestamp field dynamic offset. */
 	struct mlx5_dev_ctx_shared *sh; /* Shared context. */
diff --git a/drivers/net/mlx5/mlx5_txq.c b/drivers/net/mlx5/mlx5_txq.c
index edbaa50692..f128c3d1a5 100644
--- a/drivers/net/mlx5/mlx5_txq.c
+++ b/drivers/net/mlx5/mlx5_txq.c
@@ -109,7 +109,8 @@ mlx5_get_tx_port_offloads(struct rte_eth_dev *dev)
 			     RTE_ETH_TX_OFFLOAD_TCP_CKSUM);
 	if (dev_cap->tso)
 		offloads |= RTE_ETH_TX_OFFLOAD_TCP_TSO;
-	if (priv->sh->config.tx_pp)
+	if (priv->sh->config.tx_pp ||
+	    priv->sh->cdev->config.hca_attr.wait_on_time)
 		offloads |= RTE_ETH_TX_OFFLOAD_SEND_ON_TIMESTAMP;
 	if (dev_cap->swp) {
 		if (dev_cap->swp & MLX5_SW_PARSING_CSUM_CAP)
@@ -1288,12 +1289,21 @@ mlx5_txq_dynf_timestamp_set(struct rte_eth_dev *dev)
 	int off, nbit;
 	unsigned int i;
 	uint64_t mask = 0;
+	uint64_t ts_mask;
 
+	if (sh->dev_cap.rt_timestamp ||
+	    !sh->cdev->config.hca_attr.dev_freq_khz)
+		ts_mask = MLX5_TS_MASK_SECS << 32;
+	else
+		ts_mask = rte_align64pow2(MLX5_TS_MASK_SECS * 1000ull *
+				sh->cdev->config.hca_attr.dev_freq_khz);
+	ts_mask = rte_cpu_to_be_64(ts_mask - 1ull);
 	nbit = rte_mbuf_dynflag_lookup
 				(RTE_MBUF_DYNFLAG_TX_TIMESTAMP_NAME, NULL);
 	off = rte_mbuf_dynfield_lookup
 				(RTE_MBUF_DYNFIELD_TIMESTAMP_NAME, NULL);
-	if (nbit >= 0 && off >= 0 && sh->txpp.refcnt)
+	if (nbit >= 0 && off >= 0 &&
+	    (sh->txpp.refcnt || priv->sh->cdev->config.hca_attr.wait_on_time))
 		mask = 1ULL << nbit;
 	for (i = 0; i != priv->txqs_n; ++i) {
 		data = (*priv->txqs)[i];
@@ -1302,5 +1312,9 @@ mlx5_txq_dynf_timestamp_set(struct rte_eth_dev *dev)
 		data->sh = sh;
 		data->ts_mask = mask;
 		data->ts_offset = off;
+		data->rt_timestamp = sh->dev_cap.rt_timestamp;
+		data->rt_timemask = (data->offloads &
+				     RTE_ETH_TX_OFFLOAD_SEND_ON_TIMESTAMP) ?
+				     ts_mask : 0;
 	}
 }