diff --git a/examples/utest/configs/kernel/ipc.conf b/examples/utest/configs/kernel/ipc.conf
index 8af98d607a1..5dd798c1144 100644
--- a/examples/utest/configs/kernel/ipc.conf
+++ b/examples/utest/configs/kernel/ipc.conf
@@ -4,6 +4,7 @@ CONFIG_UTEST_MESSAGEQUEUE_TC=y
 CONFIG_UTEST_SIGNAL_TC=y
 CONFIG_UTEST_MUTEX_TC=y
 CONFIG_UTEST_MAILBOX_TC=y
+CONFIG_UTEST_WORKQUEUE_TC=y
 # dependencies
 CONFIG_RT_USING_SEMAPHORE=y
 CONFIG_RT_USING_EVENT=y
diff --git a/examples/utest/testcases/drivers/ipc/Kconfig b/examples/utest/testcases/drivers/ipc/Kconfig
index 0e76161225b..7131a8184f4 100644
--- a/examples/utest/testcases/drivers/ipc/Kconfig
+++ b/examples/utest/testcases/drivers/ipc/Kconfig
@@ -4,4 +4,8 @@ config UTEST_COMPLETION_TC
     bool "rt_completion testcase"
     default n
 
+config UTEST_WORKQUEUE_TC
+    bool "rt_workqueue testcase"
+    default n
+
 endmenu
diff --git a/examples/utest/testcases/drivers/ipc/SConscript b/examples/utest/testcases/drivers/ipc/SConscript
index c1ae9c40f1d..b6c60779b7c 100644
--- a/examples/utest/testcases/drivers/ipc/SConscript
+++ b/examples/utest/testcases/drivers/ipc/SConscript
@@ -8,6 +8,9 @@ CPPPATH = [cwd]
 if GetDepend(['UTEST_COMPLETION_TC']):
     src += ['completion_tc.c', 'completion_timeout_tc.c']
 
+if GetDepend(['UTEST_WORKQUEUE_TC']):
+    src += ['workqueue_tc.c']
+
 group = DefineGroup('utestcases', src, depend = ['RT_USING_UTESTCASES'], CPPPATH = CPPPATH)
 
 Return('group')
diff --git a/examples/utest/testcases/drivers/ipc/workqueue_tc.c b/examples/utest/testcases/drivers/ipc/workqueue_tc.c
new file mode 100644
index 00000000000..3cae6657d35
--- /dev/null
+++ b/examples/utest/testcases/drivers/ipc/workqueue_tc.c
@@ -0,0 +1,603 @@
+/*
+ * Copyright (c) 2006-2024, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-02-06     tyx          first commit
+ * 2024-12-31     rbb666       Adding Test Cases
+ */
+
+#include "rtthread.h"
+#include "rtdevice.h"
+#include "utest.h"
+
+#ifdef RT_USING_DEVICE_IPC
+
+static rt_uint8_t get_test_thread_priority(rt_int8_t pos)
+{
+    rt_int16_t priority;
+
+    priority =  RT_SCHED_PRIV(rt_thread_self()).init_priority;
+    if (pos == 0)
+    {
+        return priority;
+    }
+    else
+    {
+        priority += pos;
+    }
+    if (priority < 0)
+    {
+        return 0;
+    }
+    else if (priority >= RT_THREAD_PRIORITY_MAX)
+    {
+        return RT_THREAD_PRIORITY_MAX - 1;
+    }
+    else
+    {
+        return (rt_uint8_t)priority;
+    }
+}
+
+static void do_work_test_fun(struct rt_work *work, void *work_data)
+{
+    *((int *)work_data) = 1;
+}
+
+static void do_work_test(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 higher priority than the current test thread */
+    curr_priority = get_test_thread_priority(-1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, do_work_test_fun, (void *)&work_flag);
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Delay 5 ticks to ensure that the task has been executed */
+    rt_thread_delay(5);
+    uassert_int_equal(work_flag, 1);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void do_delay_work_test_fun(struct rt_work *work, void *work_data)
+{
+    *((rt_tick_t *)work_data) = rt_tick_get();
+}
+
+static void do_delay_work_test(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile rt_tick_t work_start = 0;
+    volatile rt_tick_t work_end = 0;
+    rt_err_t err;
+
+    /* 1 higher priority than the current test thread */
+    curr_priority = get_test_thread_priority(-1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, do_delay_work_test_fun, (void *)&work_end);
+    work_start = rt_tick_get();
+    /* Normal delayed work submission test */
+    err = rt_workqueue_submit_work(queue, &work, 10);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Ensure that the delayed work has been executed */
+    rt_thread_delay(15);
+    /* Check if the delayed task is executed after 10 ticks */
+    if (work_end < work_start || work_end - work_start < 10)
+    {
+        uassert_false(1);
+    }
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void cancle_work_test01_fun(struct rt_work *work, void *work_data)
+{
+    *((int *)work_data) = 1;
+}
+
+static void cancle_work_test01(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    work_flag = 0;
+    rt_work_init(&work, cancle_work_test01_fun, (void *)&work_flag);
+    /* Cancel the work before it is executed */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Cancel Now */
+    err = rt_workqueue_cancel_work(queue, &work);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(5);
+    uassert_int_equal(work_flag, 0);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void cancle_work_test02_fun(struct rt_work *work, void *work_data)
+{
+    rt_thread_delay(10);
+}
+
+static void cancle_work_test02(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    rt_err_t err;
+
+    /* 1 higher priority than the current test thread */
+    curr_priority = get_test_thread_priority(-1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, cancle_work_test02_fun, RT_NULL);
+    /* Cancel the work while it is in progress */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(5);
+    err = rt_workqueue_cancel_work(queue, &work);
+    uassert_int_equal(err, -RT_EBUSY);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void cancle_work_test03_fun(struct rt_work *work, void *work_data)
+{
+    rt_thread_delay(5);
+}
+
+static void cancle_work_test03(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, cancle_work_test03_fun, RT_NULL);
+    /* Canceling a work after it has been executed */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(10);
+    err = rt_workqueue_cancel_work(queue, &work);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void cancle_work_test04_fun(struct rt_work *work, void *work_data)
+{
+    rt_thread_delay(10);
+    *((int *)work_data) = 1;
+}
+
+static void cancle_work_test04(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, cancle_work_test04_fun, (void *)&work_flag);
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(5);
+    /* Synchronized cancellation work */
+    err = rt_workqueue_cancel_work_sync(queue, &work);
+    uassert_int_equal(err, RT_EOK);
+
+    uassert_int_equal(work_flag, 1);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void cancle_delay_work_test01_fun(struct rt_work *work, void *work_data)
+{
+    *((int *)work_data) = 1;
+}
+
+static void cancle_delay_work_test01(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    work_flag = 0;
+    rt_work_init(&work, cancle_delay_work_test01_fun, (void *)&work_flag);
+    err = rt_workqueue_submit_work(queue, &work, 20);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(10);
+    /* Cancel work */
+    err = rt_workqueue_cancel_work(queue, &work);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(15);
+    uassert_int_equal(work_flag, 0);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void repeat_work_test01_fun(struct rt_work *work, void *work_data)
+{
+    *((int *)work_data) += 1;
+}
+
+static void repeat_work_test01(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test01", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    work_flag = 0;
+    rt_work_init(&work, repeat_work_test01_fun, (void *)&work_flag);
+    /* Multiple submissions of the same work */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    /* The same work, before it is executed, can be submitted repeatedly and executed only once */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    if (err != RT_EOK)
+    {
+        LOG_E("L:%d err. %d", __LINE__, err);
+    }
+    rt_thread_delay(10);
+    /* Check if it was executed only once */
+    uassert_int_equal(work_flag, 1);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void repeat_work_test02_fun(struct rt_work *work, void *work_data)
+{
+    rt_thread_delay(10);
+    *((int *)work_data) += 1;
+}
+
+static void repeat_work_test02(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 priority higher than current test thread */
+    curr_priority = get_test_thread_priority(-1);
+    queue = rt_workqueue_create("test02", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, repeat_work_test02_fun, (void *)&work_flag);
+    /* Submit work with high queue priority that will be executed immediately */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(5);
+    /* Re-submission of work in progress */
+    err = rt_workqueue_submit_work(queue, &work, 0);
+    if (err != RT_EOK)
+    {
+        LOG_E("L:%d err. %d", __LINE__, err);
+    }
+    rt_thread_delay(10);
+    uassert_int_equal(work_flag, 1);
+
+    rt_thread_delay(10);
+    uassert_int_equal(work_flag, 2);
+
+    rt_workqueue_destroy(queue);
+}
+
+static struct rt_workqueue *queue_3;
+
+static void repeat_work_test03_fun(struct rt_work *work, void *work_data)
+{
+    int *work_flag = (int *)work_data;
+    (*work_flag) += 1;
+    rt_kprintf("work_flag:%d\n", *work_flag);
+    if (*work_flag < 20)
+    {
+        rt_workqueue_submit_work(queue_3, work, 0);
+    }
+}
+
+static void repeat_work_test03(void)
+{
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 priority higher than current test thread */
+    curr_priority = get_test_thread_priority(-1);
+    queue_3 = rt_workqueue_create("test03", 2048, curr_priority);
+    if (queue_3 == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    rt_work_init(&work, repeat_work_test03_fun, (void *)&work_flag);
+    /* Submit work with high queue priority that will be executed immediately */
+    err = rt_workqueue_submit_work(queue_3, &work, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Wait for the work to be executed 20 times with a timeout */
+    err = rt_workqueue_cancel_work_sync(queue_3, &work);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Check if the work was executed 20 times */
+    uassert_int_equal(work_flag, 20);
+
+    rt_workqueue_destroy(queue_3);
+}
+
+static void repeat_delay_work_test01_fun(struct rt_work *work, void *work_data)
+{
+    *((int *)work_data) += 1;
+}
+
+static void repeat_delay_work_test01(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    work_flag = 0;
+    rt_work_init(&work, repeat_delay_work_test01_fun, (void *)&work_flag);
+
+    err = rt_workqueue_submit_work(queue, &work, 20);
+    uassert_int_equal(err, RT_EOK);
+
+    /* At this point the delayed work has not been executed */
+    rt_thread_delay(10);
+    /* Re-submission of time-delayed work */
+    err = rt_workqueue_submit_work(queue, &work, 20);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(15);
+    uassert_int_equal(work_flag, 0);
+
+    /* Waiting for delayed task execution */
+    rt_thread_delay(15);
+    uassert_int_equal(work_flag, 1);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void repeat_delay_work_test02_fun(struct rt_work *work, void *work_data)
+{
+    rt_thread_delay(10);
+    *((int *)work_data) += 1;
+}
+
+static void repeat_delay_work_test02(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    /* 1 lower priority than the current test thread */
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    work_flag = 0;
+    rt_work_init(&work, repeat_delay_work_test02_fun, (void *)&work_flag);
+
+    err = rt_workqueue_submit_work(queue, &work, 20);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Waiting for delayed work execution */
+    rt_thread_delay(25);
+    err = rt_workqueue_submit_work(queue, &work, 20);
+    uassert_int_equal(err, RT_EOK);
+
+    /* Check if the delayed work has been run only once */
+    rt_thread_delay(10);
+    uassert_int_equal(work_flag, 1);
+
+    rt_thread_delay(25);
+    /* Check if the delayed work is executed twice */
+    uassert_int_equal(work_flag, 2);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static void cancel_all_work_test_fun(struct rt_work *work, void *work_data)
+{
+    *((int *)work_data) += 1;
+}
+
+static void cancel_all_work_test(void)
+{
+    struct rt_workqueue *queue;
+    rt_uint8_t curr_priority;
+    struct rt_work work1;
+    struct rt_work work2;
+    struct rt_work work3;
+    struct rt_work work4;
+    volatile int work_flag = 0;
+    rt_err_t err;
+
+    curr_priority = get_test_thread_priority(1);
+    queue = rt_workqueue_create("test", 2048, curr_priority);
+    if (queue == RT_NULL)
+    {
+        LOG_E("queue create failed, L:%d", __LINE__);
+        return;
+    }
+    work_flag = 0;
+    rt_work_init(&work1, cancel_all_work_test_fun, (void *)&work_flag);
+    rt_work_init(&work2, cancel_all_work_test_fun, (void *)&work_flag);
+    rt_work_init(&work3, cancel_all_work_test_fun, (void *)&work_flag);
+    rt_work_init(&work4, cancel_all_work_test_fun, (void *)&work_flag);
+
+    err = rt_workqueue_submit_work(queue, &work1, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    err = rt_workqueue_submit_work(queue, &work2, 0);
+    uassert_int_equal(err, RT_EOK);
+
+    err = rt_workqueue_submit_work(queue, &work3, 10);
+    uassert_int_equal(err, RT_EOK);
+
+    err = rt_workqueue_submit_work(queue, &work4, 10);
+    uassert_int_equal(err, RT_EOK);
+
+    err = rt_workqueue_cancel_all_work(queue);
+    uassert_int_equal(err, RT_EOK);
+
+    rt_thread_delay(20);
+    uassert_int_equal(work_flag, 0);
+
+    rt_thread_delay(100);
+    rt_workqueue_destroy(queue);
+}
+
+static rt_err_t utest_tc_init(void)
+{
+    return RT_EOK;
+}
+
+static rt_err_t utest_tc_cleanup(void)
+{
+    return RT_EOK;
+}
+
+static void testcase(void)
+{
+    /* General work queue test */
+    UTEST_UNIT_RUN(do_work_test);
+    /* Delayed work queue test */
+    UTEST_UNIT_RUN(do_delay_work_test);
+    /* Cancellation of work prior to implementation */
+    UTEST_UNIT_RUN(cancle_work_test01);
+    /* Cancellation of work during execution */
+    UTEST_UNIT_RUN(cancle_work_test02);
+    /* Cancellation of work after implementation */
+    UTEST_UNIT_RUN(cancle_work_test03);
+    /* Synchronized cancellation of work during execution */
+    UTEST_UNIT_RUN(cancle_work_test04);
+    /* Cancel delayed work before execution */
+    UTEST_UNIT_RUN(cancle_delay_work_test01);
+    /* Multiple submissions of the same work prior to implementation */
+    UTEST_UNIT_RUN(repeat_work_test01);
+    /* Multiple submissions of the same work during execution */
+    UTEST_UNIT_RUN(repeat_work_test02);
+    /* Submitting the same task multiple times in a mission */
+    UTEST_UNIT_RUN(repeat_work_test03);
+    /* Multiple submissions of the same delayed task before execution */
+    UTEST_UNIT_RUN(repeat_delay_work_test01);
+    /* Multiple submissions of the same delayed task during execution */
+    UTEST_UNIT_RUN(repeat_delay_work_test02);
+    /* Cancel all works */
+    UTEST_UNIT_RUN(cancel_all_work_test);
+}
+UTEST_TC_EXPORT(testcase, "components.drivers.ipc.workqueue_tc", utest_tc_init, utest_tc_cleanup, 300);
+#endif