diff --git a/tests/periph_pio/Kconfig b/tests/periph_pio/Kconfig
new file mode 100644
index 0000000000000..baffd0aa94776
--- /dev/null
+++ b/tests/periph_pio/Kconfig
@@ -0,0 +1,11 @@
+# Copyright (c) 2021 Otto-von-Guericke Universität Magdeburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config APPLICATION
+    bool
+    default y
+    depends on TEST_KCONFIG
diff --git a/tests/periph_pio/Makefile b/tests/periph_pio/Makefile
new file mode 100644
index 0000000000000..2ee86e7864271
--- /dev/null
+++ b/tests/periph_pio/Makefile
@@ -0,0 +1,8 @@
+include ../Makefile.tests_common
+
+FEATURES_REQUIRED += periph_pio
+
+# avoid running Kconfig by default
+SHOULD_RUN_KCONFIG ?=
+
+include $(RIOTBASE)/Makefile.include
diff --git a/tests/periph_pio/Makefile.ci b/tests/periph_pio/Makefile.ci
new file mode 100644
index 0000000000000..e69de29bb2d1d
diff --git a/tests/periph_pio/Readme.md b/tests/periph_pio/Readme.md
new file mode 100644
index 0000000000000..d815d3b0b2b91
--- /dev/null
+++ b/tests/periph_pio/Readme.md
@@ -0,0 +1,12 @@
+Peripheral PIO Test Application
+=====================================
+
+This application tests basic PIO functionality.
+- allocation and deallocation of instruction memory
+- state machine claim and release
+
+Expected Output on Success
+--------------------------
+
+    main(): This is RIOT! (Version: <INSERT VERSION HERE>)
+    TEST SUCCEEDED!
diff --git a/tests/periph_pio/app.config.test b/tests/periph_pio/app.config.test
new file mode 100644
index 0000000000000..550933221c249
--- /dev/null
+++ b/tests/periph_pio/app.config.test
@@ -0,0 +1,3 @@
+# this file enables modules defined in Kconfig. Do not use this file for
+# application configuration. This is only needed during migration.
+CONFIG_MODULE_PERIPH_PIO=y
diff --git a/tests/periph_pio/main.c b/tests/periph_pio/main.c
new file mode 100644
index 0000000000000..1924e15fb3c3f
--- /dev/null
+++ b/tests/periph_pio/main.c
@@ -0,0 +1,121 @@
+/*
+ * Copyright (C) 2021 Otto-von-Guericke Universität Magdeburg
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup tests
+ * @{
+ *
+ * @file
+ * @brief       Test application for the PIO peripheral driver
+ *
+ * @author      Fabian Hüßler <fabian.huessler@ovgu.de>
+ *
+ * @}
+ */
+
+#include <stddef.h>
+#include "shell.h"
+#include "periph_conf.h"
+#include "periph/pio.h"
+#define ENABLE_DEBUG    0
+#include "debug.h"
+
+#if ENABLE_DEBUG
+#define DEBUG_TEST_FAILED(msg, ...) \
+DEBUG("[Test PIO] %s failed at %d: " msg "\n", __func__, __LINE__, __VA_ARGS__);
+#else
+#define DEBUG_TEST_FAILED(msg, ...)
+#endif
+
+static int _test_pio_alloc_and_free(pio_t pio)
+{
+    int error = 1;
+    pio_program_t pro;
+    for (int i = 0; i < PIO_INSTR_NUMOF; i++) {
+        pro = (pio_program_t){.location = PIO_PROGRAM_NOT_LOADED, .instr_numof = 1};
+        if (pio_alloc_program(pio, &pro)) {
+            DEBUG_TEST_FAILED("Could not allocate program at %d", i);
+            goto CLEAN;
+        }
+    }
+    if (!pio_alloc_program(pio, &pro)) {
+        DEBUG_TEST_FAILED("Program impossibly allocated");
+        goto CLEAN;
+    }
+    pio_free_program(pio, &pro);
+    pro.location = PIO_PROGRAM_NOT_LOADED;
+    if (pio_alloc_program(pio, &pro)) {
+        DEBUG_TEST_FAILED("Program could not be allocated after free");
+        goto CLEAN;
+    }
+    error = 0;
+CLEAN:
+    for (int i = 0; i < PIO_INSTR_NUMOF; i++) {
+        pro = (pio_program_t){.location = i, .instr_numof = 1};
+        pio_free_program(pio, &pro);
+    }
+    return error;
+}
+
+static int _test_pio_sm_lock_unlock(pio_t pio)
+{
+    int error = 1;
+    pio_sm_t sm;
+    for (pio_sm_t i = 0; i < PIO_SM_NUMOF; i++) {
+        if ((sm = pio_sm_lock(pio)) < 0) {
+            DEBUG_TEST_FAILED("Could not lock state machine %d", i);
+            goto CLEAN;
+        }
+    }
+    if (pio_sm_lock(pio) >= 0) {
+        DEBUG_TEST_FAILED("State machine impossibly locked");
+        goto CLEAN;
+    }
+    pio_sm_unlock(pio, sm);
+    if (sm != pio_sm_lock(pio)) {
+        DEBUG_TEST_FAILED("State machine could not be locked after unlock");
+        goto CLEAN;
+    }
+    error = 0;
+CLEAN:
+    for (pio_sm_t i = 0; i < PIO_SM_NUMOF; i++) {
+        pio_sm_unlock(pio, i);
+    }
+    return error;
+}
+
+static int _test_pio_sm_program_any(void)
+{
+    int error = 1;
+    pio_t pio;
+    pio_sm_t sm;
+    pio_program_t pro = {.location = PIO_PROGRAM_NOT_LOADED, .instr_numof = PIO_INSTR_NUMOF};
+    if (pio_alloc_program_sm_lock_any(&pio, &sm, &pro)) {
+        DEBUG_TEST_FAILED("Could not allocate program for any state machine");
+        goto CLEAN;
+    }
+    error = 0;
+CLEAN:
+    pio_sm_unlock(pio, sm);
+    pio_free_program(pio, &pro);
+    return error;
+}
+
+int main(void)
+{
+    int error = 0;
+
+    for (pio_t pio = 0; pio < PIO_NUMOF; pio++) {
+        error = _test_pio_alloc_and_free(pio) ? 1 : error;
+        error = _test_pio_sm_lock_unlock(pio) ? 1 : error;
+    }
+    error = _test_pio_sm_program_any() ? 1 : error;
+
+    puts(error ? "TEST FAILED!" : "TEST SUCCEEDED!");
+    return 0;
+}