diff --git a/samples/subsys/ipc/ipc_service/icmsg/CMakeLists.txt b/samples/subsys/ipc/ipc_service/icmsg/CMakeLists.txt
index 3f6d4c47609318..21d9bafeab07dc 100644
--- a/samples/subsys/ipc/ipc_service/icmsg/CMakeLists.txt
+++ b/samples/subsys/ipc/ipc_service/icmsg/CMakeLists.txt
@@ -9,6 +9,7 @@ cmake_minimum_required(VERSION 3.20.0)
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 
 if(NOT CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP AND
+    NOT CONFIG_BOARD_NRF5340BSIM_NRF5340_CPUAPP AND
     NOT CONFIG_BOARD_STM32H747I_DISCO AND
     NOT CONFIG_BOARD_NRF54L15DK_NRF54L15_CPUAPP AND
     NOT CONFIG_BOARD_NRF54L15PDK_NRF54L15_CPUAPP)
diff --git a/samples/subsys/ipc/ipc_service/icmsg/Kconfig.sysbuild b/samples/subsys/ipc/ipc_service/icmsg/Kconfig.sysbuild
index 3e2db8eb38dc94..ef6f7df968b121 100644
--- a/samples/subsys/ipc/ipc_service/icmsg/Kconfig.sysbuild
+++ b/samples/subsys/ipc/ipc_service/icmsg/Kconfig.sysbuild
@@ -7,6 +7,7 @@ source "share/sysbuild/Kconfig"
 config REMOTE_BOARD
 string
 	default "nrf5340dk/nrf5340/cpunet" if $(BOARD) = "nrf5340dk"
+	default "nrf5340bsim/nrf5340/cpunet" if $(BOARD) = "nrf5340bsim"
 	default "nrf54l15pdk/nrf54l15/cpuflpr" if $(BOARD) = "nrf54l15pdk"
 	default "nrf54l15dk/nrf54l15/cpuflpr" if $(BOARD) = "nrf54l15dk"
 	default "stm32h747i_disco/stm32h747xx/m4" if $(BOARD) = "stm32h747i_disco"
diff --git a/samples/subsys/ipc/ipc_service/icmsg/boards/nrf5340bsim_nrf5340_cpuapp.overlay b/samples/subsys/ipc/ipc_service/icmsg/boards/nrf5340bsim_nrf5340_cpuapp.overlay
new file mode 100644
index 00000000000000..53c9b68afe742a
--- /dev/null
+++ b/samples/subsys/ipc/ipc_service/icmsg/boards/nrf5340bsim_nrf5340_cpuapp.overlay
@@ -0,0 +1,7 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "nrf5340dk_nrf5340_cpuapp.overlay"
diff --git a/samples/subsys/ipc/ipc_service/icmsg/remote/boards/nrf5340bsim_nrf5340_cpunet.overlay b/samples/subsys/ipc/ipc_service/icmsg/remote/boards/nrf5340bsim_nrf5340_cpunet.overlay
new file mode 100644
index 00000000000000..c5194cf93cd726
--- /dev/null
+++ b/samples/subsys/ipc/ipc_service/icmsg/remote/boards/nrf5340bsim_nrf5340_cpunet.overlay
@@ -0,0 +1,7 @@
+/*
+ * Copyright (c) 2022 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "nrf5340dk_nrf5340_cpunet.overlay"
diff --git a/samples/subsys/ipc/ipc_service/icmsg/sample.yaml b/samples/subsys/ipc/ipc_service/icmsg/sample.yaml
index 3a8cd64e3cd7c1..b1fc001a45b4ff 100644
--- a/samples/subsys/ipc/ipc_service/icmsg/sample.yaml
+++ b/samples/subsys/ipc/ipc_service/icmsg/sample.yaml
@@ -2,9 +2,12 @@ sample:
   name: IPC Service example integration (icmsg backend)
 tests:
   sample.ipc.icmsg:
-    platform_allow: nrf5340dk/nrf5340/cpuapp
+    platform_allow:
+      - nrf5340dk/nrf5340/cpuapp
+      - nrf5340bsim/nrf5340/cpuapp
     integration_platforms:
       - nrf5340dk/nrf5340/cpuapp
+      - nrf5340bsim/nrf5340/cpuapp
     tags: ipc
     sysbuild: true
     harness: console
diff --git a/samples/subsys/ipc/ipc_service/icmsg/sysbuild.cmake b/samples/subsys/ipc/ipc_service/icmsg/sysbuild.cmake
index b1f0947aff7c40..305c85cc3eb0eb 100644
--- a/samples/subsys/ipc/ipc_service/icmsg/sysbuild.cmake
+++ b/samples/subsys/ipc/ipc_service/icmsg/sysbuild.cmake
@@ -12,3 +12,6 @@ ExternalZephyrProject_Add(
 	SOURCE_DIR  ${APP_DIR}/remote
 	BOARD       ${SB_CONFIG_REMOTE_BOARD}
 )
+
+native_simulator_set_child_images(${DEFAULT_IMAGE} remote)
+native_simulator_set_final_executable(${DEFAULT_IMAGE})