diff --git a/drivers/soc/rockchip/Kconfig b/drivers/soc/rockchip/Kconfig
index 5ff2a67a76c4..1c784d042e6a 100644
--- a/drivers/soc/rockchip/Kconfig
+++ b/drivers/soc/rockchip/Kconfig
@@ -91,6 +91,16 @@ config ROCKCHIP_OPP
 	help
 	  Say y here to enable rockchip OPP support.
 
+config ROCKCHIP_OPTIMIZE_RT_PRIO
+	bool "Rockchip optimize prio for kernel RT thread and kworker"
+	depends on NO_GKI
+	help
+	  In some cases, there are too much userspace high priority RT threads, which
+	  cause kernel RT threads or kworkers block too long time. This config separate
+	  kernel and userspace RT threads into two priority regions, priority 0~49 for
+	  kernel and priority 50~99 for userspace, so that kernel RT threads is always
+	  higher priority than userspace. This config also set RT policy for kworkers.
+
 config ROCKCHIP_PERFORMANCE
 	bool "Rockchip performance configuration support"
 	depends on NO_GKI
diff --git a/kernel/sched/core.c b/kernel/sched/core.c
index df7bcd1afb78..6ea0e3ceabea 100644
--- a/kernel/sched/core.c
+++ b/kernel/sched/core.c
@@ -5738,6 +5738,14 @@ static int _sched_setscheduler(struct task_struct *p, int policy,
 		.sched_nice	= PRIO_TO_NICE(p->static_prio),
 	};
 
+	if (IS_ENABLED(CONFIG_ROCKCHIP_OPTIMIZE_RT_PRIO) &&
+	    ((policy == SCHED_FIFO) || (policy == SCHED_RR))) {
+		attr.sched_priority /= 2;
+		if (!check)
+			attr.sched_priority += MAX_RT_PRIO / 2;
+		if (!attr.sched_priority)
+			attr.sched_priority = 1;
+	}
 	/* Fixup the legacy SCHED_RESET_ON_FORK hack. */
 	if ((policy != SETPARAM_POLICY) && (policy & SCHED_RESET_ON_FORK)) {
 		attr.sched_flags |= SCHED_FLAG_RESET_ON_FORK;
diff --git a/kernel/workqueue.c b/kernel/workqueue.c
index 2b9c0cdc5601..50ab893aeaf7 100644
--- a/kernel/workqueue.c
+++ b/kernel/workqueue.c
@@ -51,6 +51,7 @@
 #include <linux/sched/isolation.h>
 #include <linux/nmi.h>
 #include <linux/kvm_para.h>
+#include <uapi/linux/sched/types.h>
 
 #include "workqueue_internal.h"
 
@@ -1959,6 +1960,15 @@ static struct worker *create_worker(struct worker_pool *pool)
 		goto fail;
 
 	set_user_nice(worker->task, pool->attrs->nice);
+	if (IS_ENABLED(CONFIG_ROCKCHIP_OPTIMIZE_RT_PRIO)) {
+		struct sched_param param;
+
+		if (pool->attrs->nice == 0)
+			param.sched_priority = MAX_RT_PRIO / 2 - 4;
+		else
+			param.sched_priority = MAX_RT_PRIO / 2 - 2;
+		sched_setscheduler_nocheck(worker->task, SCHED_RR, &param);
+	}
 	kthread_bind_mask(worker->task, pool->attrs->cpumask);
 
 	/* successful, attach the worker to the pool */