diff --git a/.github/workflows/compliance.yml b/.github/workflows/compliance.yml
index 584bf618ce5..09168abed02 100644
--- a/.github/workflows/compliance.yml
+++ b/.github/workflows/compliance.yml
@@ -38,7 +38,7 @@ jobs:
       run: |
         pip3 install setuptools
         pip3 install wheel
-        pip3 install python-magic lxml junitparser gitlint pylint pykwalify yamllint
+        pip3 install python-magic lxml junitparser gitlint pylint pykwalify yamllint clang-format unidiff
         pip3 install west
 
     - name: west setup
@@ -94,16 +94,23 @@ jobs:
           exit 1;
         fi
 
+        warns=("ClangFormat")
         files=($(./scripts/ci/check_compliance.py -l))
+
         for file in "${files[@]}"; do
           f="${file}.txt"
           if [[ -s $f ]]; then
-            errors=$(cat $f)
-            errors="${errors//'%'/'%25'}"
-            errors="${errors//$'\n'/'%0A'}"
-            errors="${errors//$'\r'/'%0D'}"
-            echo "::error file=${f}::$errors"
-            exit=1
+            results=$(cat $f)
+            results="${results//'%'/'%25'}"
+            results="${results//$'\n'/'%0A'}"
+            results="${results//$'\r'/'%0D'}"
+
+            if [[ "${warns[@]}" =~ "${file}" ]]; then
+              echo "::warning file=${f}::$results"
+            else
+              echo "::error file=${f}::$results"
+              exit=1
+            fi
           fi
         done
 
diff --git a/.gitignore b/.gitignore
index 66441114df2..f590a8a38bb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -76,6 +76,7 @@ tags
 BinaryFiles.txt
 BoardYml.txt
 Checkpatch.txt
+ClangFormat.txt
 DevicetreeBindings.txt
 GitDiffCheck.txt
 Gitlint.txt
diff --git a/scripts/ci/check_compliance.py b/scripts/ci/check_compliance.py
index 33ba1436766..c22c67a35aa 100755
--- a/scripts/ci/check_compliance.py
+++ b/scripts/ci/check_compliance.py
@@ -19,6 +19,7 @@ import traceback
 import shlex
 import shutil
 import textwrap
+import unidiff
 
 from yamllint import config, linter
 
@@ -262,6 +263,41 @@ class BoardYmlCheck(ComplianceTest):
         for file in path.glob("**/board.yml"):
             self.check_board_file(file, vendor_prefixes)
 
+
+class ClangFormatCheck(ComplianceTest):
+    """
+    Check if clang-format reports any issues
+    """
+    name = "ClangFormat"
+    doc = "See https://docs.zephyrproject.org/latest/contribute/guidelines.html#clang-format for more details."
+    path_hint = "<git-top>"
+
+    def run(self):
+        for file in get_files():
+            diff = subprocess.Popen(('git', 'diff', '-U0', '--no-color', COMMIT_RANGE, '--', file),
+                                    stdout=subprocess.PIPE,
+                                    cwd=GIT_TOP)
+            try:
+                subprocess.run(('clang-format-diff.py', '-p1'),
+                               check=True,
+                               stdin=diff.stdout,
+                               stdout=subprocess.PIPE,
+                               stderr=subprocess.STDOUT,
+                               cwd=GIT_TOP)
+
+            except subprocess.CalledProcessError as ex:
+                patchset = unidiff.PatchSet.from_string(ex.output, encoding="utf-8")
+                for patch in patchset:
+                    for hunk in patch:
+                        # Strip the before and after context
+                        msg = "".join([str(l) for l in hunk[3:-3]])
+                        # show the hunk at the last line
+                        self.fmtd_failure("notice",
+                                          "You may want to run clang-format on this change",
+                                          file, line=hunk.source_start + hunk.source_length - 3,
+                                          desc=f'\r\n{msg}')
+
+
 class DevicetreeBindingsCheck(ComplianceTest):
     """
     Checks if we are introducing any unwanted properties in Devicetree Bindings.
diff --git a/scripts/requirements-compliance.txt b/scripts/requirements-compliance.txt
index 68469fc80ea..62e51c8d332 100644
--- a/scripts/requirements-compliance.txt
+++ b/scripts/requirements-compliance.txt
@@ -1,9 +1,11 @@
 # COMPLIANCE: required by the compliance scripts
 
 # used by ci/check_compliance
+clang-format
 python-magic
 python-magic-bin; sys_platform == "win32"
 lxml
 junitparser>=2
 pylint>=3
+unidiff
 yamllint