diff --git a/include/zephyr/kernel/smp.h b/include/zephyr/kernel/smp.h
index 7cad1d0f5e9ea02..c6db32e3709d5b1 100644
--- a/include/zephyr/kernel/smp.h
+++ b/include/zephyr/kernel/smp.h
@@ -7,6 +7,8 @@
 #ifndef ZEPHYR_INCLUDE_KERNEL_SMP_H_
 #define ZEPHYR_INCLUDE_KERNEL_SMP_H_
 
+typedef void (*smp_custom_init_fn)(void *arg);
+
 /**
  * @brief Start one CPU.
  *
@@ -28,4 +30,30 @@
  */
 void k_smp_cpu_start(int id);
 
+/**
+ * @brief Start one CPU with additional initialization callback.
+ *
+ * This starts (powers up/starts up) a CPU that has stopped
+ * or powered down. After the CPU is started, the provided
+ * function (@a fn) will be called to perform any additional
+ * initialization (e.g. setting up data structures). After
+ * that, the scheduler will run, and the CPU will participate
+ * in execution of threads.
+ *
+ * @note This unconditionally starts a CPU regardless of
+ *       its current state. Depending on the architecture,
+ *       it may have no effect or very bad side effect.
+ *       Use this with caution.
+ *
+ * @warning Parallel calls to this function will result
+ *          in undesired behavior. Please make sure only
+ *          one call to this function at a time.
+ *
+ * @param id ID of target CPU.
+ * @param fn Function to be called before letting scheduler
+ *           run.
+ * @param arg Argument to @a fn.
+ */
+void k_smp_cpu_custom_start(int id, smp_custom_init_fn fn, void *arg);
+
 #endif /* ZEPHYR_INCLUDE_KERNEL_SMP_H_ */
diff --git a/kernel/Kconfig b/kernel/Kconfig
index e282737ae1fca0f..05a5b2944250678 100644
--- a/kernel/Kconfig
+++ b/kernel/Kconfig
@@ -1142,6 +1142,12 @@ config SMP_BOOT_DELAY
 	  (architecture/SoC/board/application) to boot secondary CPUs at
 	  a later time.
 
+config SMP_NEED_CUSTOM_START_FUNC
+	bool "Allow use of k_smp_cpu_custom_start()"
+	depends on SMP_BOOT_DELAY
+	help
+	  This allows k_smp_cpu_custom_start() to be used.
+
 config MP_NUM_CPUS
 	int "Number of CPUs/cores [DEPRECATED]"
 	default MP_MAX_NUM_CPUS
diff --git a/kernel/smp.c b/kernel/smp.c
index a7a298f544291ef..f26cf57287c0556 100644
--- a/kernel/smp.c
+++ b/kernel/smp.c
@@ -10,8 +10,40 @@
 #include <kernel_internal.h>
 
 static atomic_t global_lock;
-static atomic_t cpu_start_flag;
-static atomic_t ready_flag;
+
+/**
+ * Struct related to powering up one CPU.
+ */
+static struct cpu_start {
+	/**
+	 * Flag to tell recently powered up CPU to start
+	 * initialization routine.
+	 *
+	 * 0 to tell powered up CPU to wait.
+	 * 1 to tell powered up CPU to continue initialization.
+	 */
+	atomic_t start_flag;
+
+	/**
+	 * Flag to tell caller that the target CPU is now
+	 * powered up and ready to be initialized.
+	 *
+	 * 0 if target CPU is not yet ready.
+	 * 1 if target CPU has powered up and ready to be initialized.
+	 */
+	atomic_t ready_flag;
+
+#ifdef CONFIG_SMP_NEED_CUSTOM_START_FUNC
+	/**
+	 * Function to be called before handing off to scheduler.
+	 * Can be NULL.
+	 */
+	smp_custom_init_fn fn;
+
+	/** Argument to @a fn. */
+	void *arg;
+#endif
+} cpu_start_data;
 
 unsigned int z_smp_global_lock(void)
 {
@@ -81,47 +113,71 @@ void z_smp_thread_swap(void)
 static inline FUNC_NORETURN void smp_init_top(void *arg)
 {
 	struct k_thread dummy_thread;
+	struct cpu_start *csd = arg;
 
-	(void)atomic_set(&ready_flag, 1);
+	(void)atomic_set(&cpu_start_data.ready_flag, 1);
 
-	wait_for_start_signal(arg);
+	wait_for_start_signal(&csd->start_flag);
 	z_dummy_thread_init(&dummy_thread);
 #ifdef CONFIG_SYS_CLOCK_EXISTS
 	smp_timer_init();
 #endif
 
+#ifdef CONFIG_SMP_NEED_CUSTOM_START_FUNC
+	/* Do additional initialization steps if needed. */
+	if (csd->fn != NULL) {
+		csd->fn(csd->arg);
+	}
+#endif
+
 	z_swap_unlocked();
 
 	CODE_UNREACHABLE; /* LCOV_EXCL_LINE */
 }
 
-static void start_cpu(int id, atomic_t *start_flag)
+static void start_cpu(int id, smp_custom_init_fn fn, void *arg)
 {
+#ifdef CONFIG_SMP_NEED_CUSTOM_START_FUNC
+	cpu_start_data.fn = fn;
+	cpu_start_data.arg = arg;
+#else
+	ARG_UNUSED(fn);
+	ARG_UNUSED(arg);
+#endif
+
 	z_init_cpu(id);
-	(void)atomic_clear(&ready_flag);
+	(void)atomic_clear(&cpu_start_data.ready_flag);
 	arch_start_cpu(id, z_interrupt_stacks[id], CONFIG_ISR_STACK_SIZE,
-		       smp_init_top, start_flag);
-	while (!atomic_get(&ready_flag)) {
+		       smp_init_top, &cpu_start_data);
+	while (!atomic_get(&cpu_start_data.ready_flag)) {
 		local_delay();
 	}
 }
 
+#ifdef CONFIG_SMP_NEED_CUSTOM_START_FUNC
+void k_smp_cpu_custom_start(int id, smp_custom_init_fn fn, void *arg)
+{
+	(void)atomic_set(&cpu_start_data.start_flag, 1); /* async, don't care */
+	start_cpu(id, fn, arg);
+}
+#endif
+
 void k_smp_cpu_start(int id)
 {
-	(void)atomic_set(&cpu_start_flag, 1); /* async, don't care */
-	start_cpu(id, &cpu_start_flag);
+	(void)atomic_set(&cpu_start_data.start_flag, 1); /* async, don't care */
+	start_cpu(id, NULL, NULL);
 }
 
 void z_smp_init(void)
 {
-	(void)atomic_clear(&cpu_start_flag);
+	(void)atomic_clear(&cpu_start_data.start_flag);
 
 	unsigned int num_cpus = arch_num_cpus();
 
 	for (int i = 1; i < num_cpus; i++) {
-		start_cpu(i, &cpu_start_flag);
+		start_cpu(i, NULL, NULL);
 	}
-	(void)atomic_set(&cpu_start_flag, 1);
+	(void)atomic_set(&cpu_start_data.start_flag, 1);
 }
 
 bool z_smp_cpu_mobile(void)