diff --git a/tools/ci/docker/linux/Dockerfile b/tools/ci/docker/linux/Dockerfile
index 5348f67d7c..71d0936f72 100644
--- a/tools/ci/docker/linux/Dockerfile
+++ b/tools/ci/docker/linux/Dockerfile
@@ -293,6 +293,15 @@ RUN mkdir -p wamrc && \
   curl -s -L  "https://github.com/bytecodealliance/wasm-micro-runtime/releases/download/WAMR-1.1.2/wamrc-1.1.2-x86_64-ubuntu-20.04.tar.gz" \
   | tar -C wamrc -xz
 
+###############################################################################
+# Build image for tool required by Raspberry Pi pico-sdk builds
+###############################################################################
+FROM nuttx-toolchain-base AS nuttx-toolchain-raspberrypi-pico-sdk
+# Download the latest pico-sdk source archive
+RUN mkdir -p pico-sdk && \
+  curl -s -L "https://github.com/raspberrypi/pico-sdk/releases/download/2.2.0/pico-sdk-2.2.0.tar.gz" \
+  | tar -C pico-sdk --strip-components 1 -xz
+
 ###############################################################################
 # Final Docker image used for running CI system.  This includes all toolchains
 # supported by the CI system.
@@ -478,6 +487,11 @@ COPY --from=nuttx-toolchain-esp32 /tools/blobs/* /tools/blobs/esp-bins/
 COPY --from=nuttx-toolchain-wasm /tools/wasi-sdk/ wasi-sdk/
 ENV WASI_SDK_PATH="/tools/wasi-sdk"
 ENV PATH="/tools/wamr:$PATH"
+COPY --from=nuttx-toolchain-esp32 /tools/blobs/* /tools/blobs/esp-bins/
+
+# Raspberry Pi pico-sdk source
+COPY --from=nuttx-toolchain-raspberrypi-pico-sdk /tools/pico-sdk/ pico-sdk/
+ENV PICO_SDK_PATH="/tools/pico-sdk"
 
 # gn tool
 RUN mkdir -p /tools/gn
diff --git a/tools/ci/platforms/linux.sh b/tools/ci/platforms/linux.sh
index e5cdf0c7c9..a56ae81542 100755
--- a/tools/ci/platforms/linux.sh
+++ b/tools/ci/platforms/linux.sh
@@ -299,6 +299,27 @@ wasi_sdk() {
   command wamrc --version
 }
 
+raspberrypi_pico_sdk() {
+  if [ ! -f "${NUTTXTOOLS}/pico-sdk" ]; then
+    local release
+    local basefile
+    release="2.2.0"
+    basefile="pico-sdk-${release}"
+    cd "${NUTTXTOOLS}"
+    mkdir -p pico-sdk
+
+    # Download the latest pico-sdk source archive
+    curl -O -L -s https://github.com/raspberrypi/pico-sdk/releases/download/${release}/${basefile}.tar.gz
+    tar xzf "${basefile}.tar.gz"
+    mv "${basefile}" pico-sdk
+    rm "${basefile}.tar.gz"
+
+  fi
+
+  export PICO_SDK_PATH="${NUTTXTOOLS}/pico-sdk"
+  echo "export PICO_SDK_PATH=${NUTTXTOOLS}/pico-sdk" >> "${NUTTXTOOLS}"/env.sh
+}
+
 setup_links() {
   # Configure ccache
   mkdir -p "${NUTTXTOOLS}"/ccache/bin/
@@ -334,7 +355,7 @@ install_build_tools() {
   mkdir -p "${NUTTXTOOLS}"
   echo "#!/usr/bin/env sh" > "${NUTTXTOOLS}"/env.sh
 
-  install="arm_clang_toolchain arm_gcc_toolchain arm64_gcc_toolchain bloaty kconfig_frontends mips_gcc_toolchain python_tools riscv_gcc_toolchain rx_gcc_toolchain sparc_gcc_toolchain xtensa_esp_gcc_toolchain util_linux wasi_sdk"
+  install="arm_clang_toolchain arm_gcc_toolchain arm64_gcc_toolchain bloaty kconfig_frontends mips_gcc_toolchain python_tools riscv_gcc_toolchain rx_gcc_toolchain sparc_gcc_toolchain xtensa_esp_gcc_toolchain util_linux wasi_sdk raspberrypi_pico_sdk"
 
   oldpath=$(cd . && pwd -P)
   for func in ${install}; do
diff --git a/tools/ci/platforms/ubuntu.sh b/tools/ci/platforms/ubuntu.sh
index 3d03a4ca07..25f60825fb 100755
--- a/tools/ci/platforms/ubuntu.sh
+++ b/tools/ci/platforms/ubuntu.sh
@@ -379,6 +379,27 @@ wasi_sdk() {
   command wamrc --version
 }
 
+raspberrypi_pico_sdk() {
+  if [ ! -f "${NUTTXTOOLS}/pico-sdk" ]; then
+    local release
+    local basefile
+    release="2.2.0"
+    basefile="pico-sdk-${release}"
+    cd "${NUTTXTOOLS}"
+    mkdir -p pico-sdk
+
+    # Download the latest pico-sdk source archive
+    curl -O -L -s https://github.com/raspberrypi/pico-sdk/releases/download/${release}/${basefile}.tar.gz
+    tar xzf "${basefile}.tar.gz"
+    mv "${basefile}" pico-sdk
+    rm "${basefile}.tar.gz"
+
+  fi
+
+  export PICO_SDK_PATH="${NUTTXTOOLS}/pico-sdk"
+  echo "export PICO_SDK_PATH=${NUTTXTOOLS}/pico-sdk" >> "${NUTTXTOOLS}"/env.sh
+}
+
 setup_links() {
   # Configure ccache
   mkdir -p "${NUTTXTOOLS}"/ccache/bin/
@@ -414,7 +435,7 @@ install_build_tools() {
   mkdir -p "${NUTTXTOOLS}"
   echo "#!/usr/bin/env sh" > "${NUTTXTOOLS}"/env.sh
 
-  install="arm_clang_toolchain arm_gcc_toolchain arm64_gcc_toolchain avr_gcc_toolchain binutils bloaty clang_tidy gen_romfs gperf kconfig_frontends mips_gcc_toolchain python_tools riscv_gcc_toolchain rust dlang rx_gcc_toolchain sparc_gcc_toolchain xtensa_esp_gcc_toolchain u_boot_tools util_linux wasi_sdk c_cache"
+  install="arm_clang_toolchain arm_gcc_toolchain arm64_gcc_toolchain avr_gcc_toolchain binutils bloaty clang_tidy gen_romfs gperf kconfig_frontends mips_gcc_toolchain python_tools riscv_gcc_toolchain rust dlang rx_gcc_toolchain sparc_gcc_toolchain xtensa_esp_gcc_toolchain u_boot_tools util_linux wasi_sdk c_cache raspberrypi_pico_sdk"
 
   oldpath=$(cd . && pwd -P)
   for func in ${install}; do