diff --git a/samples/drivers/haptics/drv2605/CMakeLists.txt b/samples/drivers/haptics/drv2605/CMakeLists.txt
new file mode 100644
index 000000000000..786a1dc9fc82
--- /dev/null
+++ b/samples/drivers/haptics/drv2605/CMakeLists.txt
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(drv2605)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})
diff --git a/samples/drivers/haptics/drv2605/README.rst b/samples/drivers/haptics/drv2605/README.rst
new file mode 100644
index 000000000000..4d6ca198b343
--- /dev/null
+++ b/samples/drivers/haptics/drv2605/README.rst
@@ -0,0 +1,36 @@
+.. zephyr:code-sample:: drv2605
+   :name: DRV2605 Haptic Driver
+   :relevant-api: haptics_interface
+
+   Drive an LRA using the DRV2605 haptic driver chip.
+
+Overview
+********
+
+This sample demonstrates how to configure a ROM playback event on the DRV2605 and executes playback
+of a tapping rhythmic pattern.
+
+Building and Running
+********************
+
+Build the application for the :ref:`nucleo_f401re_board` board, and connect a DRV2605 haptic driver
+on the bus I2C1 at the address 0x5A.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/drivers/haptics/drv2605
+   :board: nucleo_f401re
+   :goals: build
+   :compact:
+
+For flashing the application, refer to the Flashing section of the :ref:`nucleo_f401re_board` board
+documentation.
+
+.. code-block:: none
+
+  *** Booting Zephyr OS build v3.7.0-5-g3b4f8d80850e ***
+  [00:00:00.103,000] <inf> main: Found DRV2605 device drv2605@5a
+
+References
+**********
+
+- DRV2605 Datasheet: https://www.ti.com/lit/ds/symlink/drv2605.pdf
diff --git a/samples/drivers/haptics/drv2605/boards/nucleo_f401re.overlay b/samples/drivers/haptics/drv2605/boards/nucleo_f401re.overlay
new file mode 100644
index 000000000000..324d32f6ff4c
--- /dev/null
+++ b/samples/drivers/haptics/drv2605/boards/nucleo_f401re.overlay
@@ -0,0 +1,22 @@
+/*
+ * Copyright (c) 2024 Cirrus Logic, Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/i2c/i2c.h>
+
+&arduino_i2c {
+	status = "okay";
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+
+	haptic: drv2605@5a {
+		compatible = "ti,drv2605";
+		reg = <0x5a>;
+		status = "okay";
+
+		actuator-mode = "LRA";
+		loop-gain = "HIGH";
+		feedback-brake-factor = "2X";
+	};
+};
diff --git a/samples/drivers/haptics/drv2605/prj.conf b/samples/drivers/haptics/drv2605/prj.conf
new file mode 100644
index 000000000000..32ef5e97454e
--- /dev/null
+++ b/samples/drivers/haptics/drv2605/prj.conf
@@ -0,0 +1,2 @@
+CONFIG_LOG=y
+CONFIG_HAPTICS=y
diff --git a/samples/drivers/haptics/drv2605/src/main.c b/samples/drivers/haptics/drv2605/src/main.c
new file mode 100644
index 000000000000..37e3369fa06a
--- /dev/null
+++ b/samples/drivers/haptics/drv2605/src/main.c
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2024 Cirrus Logic, Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <errno.h>
+
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/drivers/haptics.h>
+#include <zephyr/drivers/haptics/drv2605.h>
+#include <zephyr/sys/util.h>
+#include <sys/_stdint.h>
+
+#define LOG_LEVEL 4
+
+LOG_MODULE_REGISTER(main);
+
+static struct drv2605_rom_data rom_data = {
+	.library = DRV2605_LIBRARY_LRA,
+	.brake_time = 0,
+	.overdrive_time = 0,
+	.sustain_neg_time = 0,
+	.sustain_pos_time = 0,
+	.trigger = DRV2605_MODE_INTERNAL_TRIGGER,
+	.seq_regs[0] = 1,
+	.seq_regs[1] = 10 | 0x80,
+	.seq_regs[2] = 2,
+	.seq_regs[3] = 10 | 0x80,
+	.seq_regs[4] = 3,
+	.seq_regs[5] = 10 | 0x80,
+	.seq_regs[6] = 4,
+};
+
+int main(void)
+{
+	const struct device *dev = DEVICE_DT_GET(DT_NODELABEL(haptic));
+	union drv2605_config_data config_data = {};
+
+	int ret;
+
+	if (!dev) {
+		LOG_ERR("DRV2605 device not found");
+		return -ENODEV;
+	} else if (!device_is_ready(dev)) {
+		LOG_ERR("DRV2605 device %s is not ready", dev->name);
+		return -EIO;
+	}
+
+	LOG_INF("Found DRV2605 device %s", dev->name);
+
+	config_data.rom_data = &rom_data;
+
+	ret = drv2605_haptic_config(dev, DRV2605_HAPTICS_SOURCE_ROM, &config_data);
+	if (ret < 0) {
+		LOG_ERR("Failed to configure ROM event: %d", ret);
+		return ret;
+	}
+
+	ret = haptics_start_output(dev);
+	if (ret < 0) {
+		LOG_ERR("Failed to start ROM event: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}