diff --git a/include/zephyr/posix/time.h b/include/zephyr/posix/time.h
index 057d55f0e3a7ab..85cb7f8ae4226a 100644
--- a/include/zephyr/posix/time.h
+++ b/include/zephyr/posix/time.h
@@ -96,6 +96,8 @@ int timer_settime(timer_t timerid, int flags, const struct itimerspec *value,
 		  struct itimerspec *ovalue);
 int timer_getoverrun(timer_t timerid);
 int nanosleep(const struct timespec *rqtp, struct timespec *rmtp);
+int clock_nanosleep(clockid_t clock_id, int flags,
+		    const struct timespec *rqtp, struct timespec *rmtp);
 
 #ifdef __cplusplus
 }
diff --git a/lib/posix/clock.c b/lib/posix/clock.c
index 6733b34deaceff..51812ed53bc65e 100644
--- a/lib/posix/clock.c
+++ b/lib/posix/clock.c
@@ -106,6 +106,75 @@ int clock_settime(clockid_t clock_id, const struct timespec *tp)
 	return 0;
 }
 
+/**
+ * @brief Suspend execution for a nanosecond interval, or
+ * until some absolute time relative to the specified clock.
+ *
+ * See IEEE 1003.1
+ */
+int clock_nanosleep(clockid_t clock_id, int flags, const struct timespec *rqtp,
+		    struct timespec *rmtp)
+{
+	uint64_t ns;
+	uint64_t us;
+	uint64_t uptime_ns;
+	k_spinlock_key_t key;
+	const bool update_rmtp = rmtp != NULL;
+
+	if (!(clock_id == CLOCK_REALTIME || clock_id == CLOCK_MONOTONIC)) {
+		errno = EINVAL;
+		return -1;
+	}
+
+	if (rqtp == NULL) {
+		errno = EFAULT;
+		return -1;
+	}
+
+	if (rqtp->tv_sec < 0 || rqtp->tv_nsec < 0 || rqtp->tv_nsec >= NSEC_PER_SEC) {
+		errno = EINVAL;
+		return -1;
+	}
+
+	if ((flags & TIMER_ABSTIME) == 0 &&
+	    unlikely(rqtp->tv_sec >= ULLONG_MAX / NSEC_PER_SEC)) {
+
+		ns = rqtp->tv_nsec + NSEC_PER_SEC
+			+ k_sleep(K_SECONDS(rqtp->tv_sec - 1)) * NSEC_PER_MSEC;
+	} else {
+		ns = rqtp->tv_sec * NSEC_PER_SEC + rqtp->tv_nsec;
+	}
+
+	uptime_ns = k_cyc_to_ns_ceil64(k_cycle_get_32());
+
+	if (flags & TIMER_ABSTIME && clock_id == CLOCK_REALTIME) {
+		key = k_spin_lock(&rt_clock_base_lock);
+		ns -= rt_clock_base.tv_sec * NSEC_PER_SEC + rt_clock_base.tv_nsec;
+		k_spin_unlock(&rt_clock_base_lock, key);
+	}
+
+	if ((flags & TIMER_ABSTIME) == 0) {
+		ns += uptime_ns;
+	}
+
+	if (ns <= uptime_ns) {
+		goto do_rmtp_update;
+	}
+
+	us = DIV_ROUND_UP(ns, NSEC_PER_USEC);
+	do {
+		us = k_sleep(K_TIMEOUT_ABS_US(us)) * 1000;
+	} while (us != 0);
+
+do_rmtp_update:
+	if (update_rmtp) {
+		rmtp->tv_sec = 0;
+		rmtp->tv_nsec = 0;
+	}
+
+	return 0;
+}
+
 /**
  * @brief Get current real time.
  *
diff --git a/lib/posix/nanosleep.c b/lib/posix/nanosleep.c
index 39d47c443f5abd..aafb9dbeb79936 100644
--- a/lib/posix/nanosleep.c
+++ b/lib/posix/nanosleep.c
@@ -20,46 +20,5 @@
  */
 int nanosleep(const struct timespec *rqtp, struct timespec *rmtp)
 {
-	uint64_t ns;
-	uint64_t us;
-	const bool update_rmtp = rmtp != NULL;
-
-	if (rqtp == NULL) {
-		errno = EFAULT;
-		return -1;
-	}
-
-	if (rqtp->tv_sec < 0 || rqtp->tv_nsec < 0
-		|| rqtp->tv_nsec >= NSEC_PER_SEC) {
-		errno = EINVAL;
-		return -1;
-	}
-
-	if (rqtp->tv_sec == 0 && rqtp->tv_nsec == 0) {
-		goto do_rmtp_update;
-	}
-
-	if (unlikely(rqtp->tv_sec >= ULLONG_MAX / NSEC_PER_SEC)) {
-		/* If a user passes this in, we could be here a while, but
-		 * at least it's technically correct-ish
-		 */
-		ns = rqtp->tv_nsec + NSEC_PER_SEC
-			+ k_sleep(K_SECONDS(rqtp->tv_sec - 1)) * NSEC_PER_MSEC;
-	} else {
-		ns = rqtp->tv_sec * NSEC_PER_SEC + rqtp->tv_nsec;
-	}
-
-	/* TODO: improve upper bound when hr timers are available */
-	us = DIV_ROUND_UP(ns, NSEC_PER_USEC);
-	do {
-		us = k_usleep(us);
-	} while (us != 0);
-
-do_rmtp_update:
-	if (update_rmtp) {
-		rmtp->tv_sec = 0;
-		rmtp->tv_nsec = 0;
-	}
-
-	return 0;
+	return clock_nanosleep(CLOCK_MONOTONIC, 0, rqtp, rmtp);
 }