diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index a1be67587c..2748ee7c79 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -348,6 +348,7 @@ config ARCH_CHIP_RP2040
 	select ARM_HAVE_WFE_SEV
 	select ARCH_HAVE_PWM_MULTICHAN
 	select ARCH_BOARD_COMMON
+	select ARCH_HAVE_CUSTOM_VECTORS
 	---help---
 		Raspberry Pi RP2040 architectures (ARM dual Cortex-M0+).
 
diff --git a/arch/arm/src/rp2040/Make.defs b/arch/arm/src/rp2040/Make.defs
index 857105f11f..6a1ff9baea 100644
--- a/arch/arm/src/rp2040/Make.defs
+++ b/arch/arm/src/rp2040/Make.defs
@@ -33,6 +33,7 @@ CHIP_CSRCS += rp2040_pio.c
 CHIP_CSRCS += rp2040_clock.c
 CHIP_CSRCS += rp2040_xosc.c
 CHIP_CSRCS += rp2040_pll.c
+CHIP_CSRCS += rp2040_vectors.c
 
 ifeq ($(CONFIG_SMP),y)
 CHIP_CSRCS += rp2040_cpustart.c
diff --git a/arch/arm/src/rp2040/rp2040_vectors.c b/arch/arm/src/rp2040/rp2040_vectors.c
new file mode 100644
index 0000000000..bc15b969da
--- /dev/null
+++ b/arch/arm/src/rp2040/rp2040_vectors.c
@@ -0,0 +1,121 @@
+/****************************************************************************
+ * arch/arm/src/rp2040/rp2040_vectors.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Cloned from the ARMv7-M version:
+ *
+ *   Copyright (C) 2012 Michael Smith. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+#include "ram_vectors.h"
+#include "nvic.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define IDLE_STACK      (_ebss + CONFIG_IDLETHREAD_STACKSIZE)
+
+#ifndef ARMV6M_PERIPHERAL_INTERRUPTS
+#  error ARMV6M_PERIPHERAL_INTERRUPTS must be defined to the number of I/O interrupts to be supported
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/* Chip-specific entrypoint */
+
+extern void __start(void);
+
+static void start(void)
+{
+  /* Zero lr to mark the end of backtrace */
+
+  asm volatile ("mov lr, %0\n\t"
+                "bx      %1\n\t"
+                :
+                : "r"(0), "r"(__start));
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/* Common exception entrypoint */
+
+extern void exception_common(void);
+extern void exception_direct(void);
+
+/****************************************************************************
+ * Public data
+ ****************************************************************************/
+
+/* The v6m vector table consists of an array of function pointers, with the
+ * first slot (vector zero) used to hold the initial stack pointer.
+ *
+ * As all exceptions (interrupts) are routed via exception_common, we just
+ * need to fill this array with pointers to it.
+ *
+ * Note that the [ ... ] designated initializer is a GCC extension.
+ */
+
+const void * const _vectors[] locate_data(".vectors")
+                              aligned_data(VECTAB_ALIGN) =
+{
+  /* Initial stack */
+
+  IDLE_STACK,
+
+  /* Reset exception handler */
+
+  start,
+
+  /* Vectors 2 - n point directly at the generic handler */
+
+  [2 ... NVIC_IRQ_PENDSV] = &exception_common,
+  [(NVIC_IRQ_PENDSV + 1) ... (RP2040_SMP_CALL_PROC0 - 1)]
+                          = &exception_direct,
+  [RP2040_SMP_CALL_PROC0 ... RP2040_SMP_CALL_PROC1]
+                          = &exception_common,
+  [(RP2040_SMP_CALL_PROC1 + 1) ... (15 + ARMV6M_PERIPHERAL_INTERRUPTS)]
+                          = &exception_direct,
+};