diff --git a/drivers/iommu/Kconfig b/drivers/iommu/Kconfig
index e0d5960e7753..f58d6fc37d30 100644
--- a/drivers/iommu/Kconfig
+++ b/drivers/iommu/Kconfig
@@ -409,7 +409,7 @@ config ARM_SMMU_V3_SVA
 
 config TEGRA241_CMDQV
 	bool "NVIDIA Tegra241 CMDQ-V extension support for ARM SMMUv3"
-	depends on ACPI
+	depends on ARM_SMMU_V3
 	help
 	  Support for NVIDIA CMDQ-Virtualization extension for ARM SMMUv3. The
 	  CMDQ-V extension is similar to v3.3 ECMDQ for multi command queues
diff --git a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c
index 185f4ef2deaf..dbf12404145e 100644
--- a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c
+++ b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c
@@ -3713,6 +3713,34 @@ static int arm_smmu_device_hw_probe(struct arm_smmu_device *smmu)
 	return 0;
 }
 
+#ifdef CONFIG_TEGRA241_CMDQV
+static void tegra_cmdqv_dt_probe(struct device_node *smmu_node,
+				 struct arm_smmu_device *smmu)
+{
+	struct platform_device *pdev;
+	struct device_node *np;
+
+	np = of_parse_phandle(smmu_node, "nvidia,cmdqv", 0);
+	if (!np)
+		return;
+
+	pdev = of_find_device_by_node(np);
+	of_node_put(np);
+	if (!pdev)
+		return;
+
+	smmu->impl_dev = &pdev->dev;
+	smmu->options |= ARM_SMMU_OPT_TEGRA241_CMDQV;
+	dev_info(smmu->dev, "found companion CMDQV device: %s\n",
+			dev_name(smmu->impl_dev));
+}
+#else
+static void tegra_cmdqv_dt_probe(struct device_node *smmu_node,
+				 struct arm_smmu_device *smmu)
+{
+}
+#endif
+
 #ifdef CONFIG_ACPI
 #ifdef CONFIG_TEGRA241_CMDQV
 static void acpi_smmu_dsdt_probe_tegra241_cmdqv(struct acpi_iort_node *node,
@@ -3812,6 +3840,8 @@ static int arm_smmu_device_dt_probe(struct platform_device *pdev,
 	if (of_dma_is_coherent(dev->of_node))
 		smmu->features |= ARM_SMMU_FEAT_COHERENCY;
 
+	tegra_cmdqv_dt_probe(dev->of_node, smmu);
+
 	return ret;
 }
 
diff --git a/drivers/iommu/arm/arm-smmu-v3/tegra241-cmdqv.c b/drivers/iommu/arm/arm-smmu-v3/tegra241-cmdqv.c
index dd7d030d2e89..48618089d1f2 100644
--- a/drivers/iommu/arm/arm-smmu-v3/tegra241-cmdqv.c
+++ b/drivers/iommu/arm/arm-smmu-v3/tegra241-cmdqv.c
@@ -9,6 +9,8 @@
 #include <linux/interrupt.h>
 #include <linux/iommu.h>
 #include <linux/iopoll.h>
+#include <linux/of_platform.h>
+#include <linux/platform_device.h>
 
 #include <acpi/acpixf.h>
 
@@ -748,6 +750,26 @@ free_list:
 	return res;
 }
 
+static struct resource *
+tegra241_cmdqv_find_dt_resource(struct device *dev, int *irq)
+{
+	struct platform_device *pdev = to_platform_device(dev);
+	struct resource *res;
+
+	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	if (!res) {
+		dev_err(dev, "no memory resource found for CMDQV\n");
+		return NULL;
+	}
+
+	if (irq)
+		*irq = platform_get_irq_byname_optional(pdev, "cmdqv");
+	if (!irq || *irq <= 0)
+		dev_warn(dev, "no interrupt. errors will not be reported\n");
+
+	return res;
+}
+
 static int tegra241_cmdqv_init_structures(struct arm_smmu_device *smmu)
 {
 	struct tegra241_cmdqv *cmdqv =
@@ -875,11 +897,14 @@ struct arm_smmu_device *tegra241_cmdqv_probe(struct arm_smmu_device *smmu)
 
 	if (!smmu->dev->of_node)
 		res = tegra241_cmdqv_find_acpi_resource(smmu->impl_dev, &irq);
+	else
+		res = tegra241_cmdqv_find_dt_resource(smmu->impl_dev, &irq);
 	if (!res)
 		goto out_fallback;
 
 	new_smmu = __tegra241_cmdqv_probe(smmu, res, irq);
-	kfree(res);
+	if (!smmu->dev->of_node)
+		kfree(res);
 
 	if (new_smmu)
 		return new_smmu;
@@ -890,3 +915,20 @@ out_fallback:
 	put_device(smmu->impl_dev);
 	return ERR_PTR(-ENODEV);
 }
+
+static const struct of_device_id tegra241_cmdqv_of_match[] = {
+	{ .compatible = "nvidia,tegra264-cmdqv" },
+	{ /* sentinel */ }
+};
+MODULE_DEVICE_TABLE(of, tegra241_cmdqv_of_match);
+
+static struct platform_driver tegra241_cmdqv_driver = {
+	.driver = {
+		.name = "tegra241-cmdqv",
+		.of_match_table = tegra241_cmdqv_of_match,
+	},
+};
+module_platform_driver(tegra241_cmdqv_driver);
+
+MODULE_DESCRIPTION("NVIDIA Tegra241 Command Queue Virtualization Driver");
+MODULE_LICENSE("GPL v2");