diff --git a/Kconfig.zephyr b/Kconfig.zephyr
index 6d8976237a0f45..5372c0ba15818e 100644
--- a/Kconfig.zephyr
+++ b/Kconfig.zephyr
@@ -507,6 +507,20 @@ config MAKEFILE_EXPORTS
 	  third party Makefile-based build systems.
 
 endmenu
+
+config EXPERIMENTAL
+	bool
+	help
+	  Symbol that must be selected by a feature if it is considered to be
+	  at an experimental implementation stage.
+
+config WARN_EXPERIMENTAL
+	bool
+	prompt "Warn on experimental usage"
+	help
+	  Print a warning when the Kconfig tree is parsed if any experimental
+	  features are enabled.
+
 endmenu
 
 
diff --git a/doc/application/index.rst b/doc/application/index.rst
index 73d6b2e40a36ad..c71002a6c3cf82 100644
--- a/doc/application/index.rst
+++ b/doc/application/index.rst
@@ -605,6 +605,28 @@ The other pages in the :ref:`Kconfig section of the manual <kconfig>` are also
 worth going through, especially if you planning to add new configuration
 options.
 
+Experimental features
+*********************
+
+Zephyr is a project under constant development and thus there are features that
+are still in early stages of their development cycle. Such features will be
+marked ``[EXPERIMENTAL]`` in their Kconfig title.
+
+The :kconfig:`CONFIG_WARN_EXPERIMENTAL` setting can be used to enable warnings
+at CMake configure time if any experimental feature is enabled.
+
+.. code-block:: none
+
+   CONFIG_WARN_EXPERIMENTAL=y
+
+For example, enabling experimental warnings and building a sample which enables
+:kconfig:`CONFIG_BT_EXT_ADV` will print the following warning at CMake
+configure time.
+
+.. code-block:: shell
+
+   warning: Experimental symbol BT_EXT_ADV is enabled.
+
 Devicetree Overlays
 ===================
 
diff --git a/drivers/bluetooth/hci/Kconfig b/drivers/bluetooth/hci/Kconfig
index c9ea0ede759c32..d3315bd6eea999 100644
--- a/drivers/bluetooth/hci/Kconfig
+++ b/drivers/bluetooth/hci/Kconfig
@@ -25,6 +25,7 @@ config BT_H5
 	bool "H:5 UART [EXPERIMENTAL]"
 	select UART_INTERRUPT_DRIVEN
 	select BT_UART
+	select EXPERIMENTAL
 	depends on SERIAL
 	help
 	  Bluetooth three-wire (H:5) UART driver. Implementation of HCI
diff --git a/drivers/can/Kconfig.net b/drivers/can/Kconfig.net
index 0c5220630e030f..080ffa680cfa0a 100644
--- a/drivers/can/Kconfig.net
+++ b/drivers/can/Kconfig.net
@@ -5,6 +5,7 @@
 
 config CAN_NET
 	bool "Enable 6loCAN network interface [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  Enable IPv6 Networking over can (6loCAN)
 
diff --git a/scripts/kconfig/kconfig.py b/scripts/kconfig/kconfig.py
index 77aafc91f6ff99..7477f422303692 100755
--- a/scripts/kconfig/kconfig.py
+++ b/scripts/kconfig/kconfig.py
@@ -17,7 +17,7 @@
 # Zephyr doesn't use tristate symbols. They're supported here just to make the
 # script a bit more generic.
 from kconfiglib import Kconfig, split_expr, expr_value, expr_str, BOOL, \
-                       TRISTATE, TRI_TO_STR, AND
+                       TRISTATE, TRI_TO_STR, AND, OR
 
 
 def main():
@@ -62,6 +62,9 @@ def main():
         check_assigned_sym_values(kconf)
         check_assigned_choice_values(kconf)
 
+    if kconf.syms['WARN_EXPERIMENTAL'].tri_value == 2:
+        check_experimental(kconf)
+
     # Hack: Force all symbols to be evaluated, to catch warnings generated
     # during evaluation. Wait till the end to write the actual output files, so
     # that we don't generate any output if there are warnings-turned-errors.
@@ -202,6 +205,17 @@ def check_assigned_choice_values(kconf):
 """
 
 
+def check_experimental(kconf):
+    experimental = kconf.syms['EXPERIMENTAL']
+    dep_expr = experimental.rev_dep
+
+    if dep_expr is not kconf.n:
+        selectors = [s for s in split_expr(dep_expr, OR) if expr_value(s) == 2]
+        for selector in selectors:
+            selector_name = split_expr(selector, AND)[0].name
+            warn(f'Experimental symbol {selector_name} is enabled.')
+
+
 def promptless(sym):
     # Returns True if 'sym' has no prompt. Since the symbol might be defined in
     # multiple locations, we need to check all locations.
diff --git a/subsys/bluetooth/Kconfig.adv b/subsys/bluetooth/Kconfig.adv
index 72f1a49414a500..b051935db37a83 100644
--- a/subsys/bluetooth/Kconfig.adv
+++ b/subsys/bluetooth/Kconfig.adv
@@ -16,6 +16,7 @@ config BT_LIM_ADV_TIMEOUT
 
 config BT_EXT_ADV
 	bool "Extended Advertising and Scanning support [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  Select this to enable Extended Advertising API support.
 	  This enables support for advertising with multiple advertising sets,
@@ -45,6 +46,7 @@ config BT_EXT_ADV_MAX_ADV_SET
 
 config BT_PER_ADV
 	bool "Periodic Advertising and Scanning support [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  Select this to enable Periodic Advertising API support. This allows
 	  the device to send advertising data periodically at deterministic
@@ -54,6 +56,7 @@ config BT_PER_ADV
 config BT_PER_ADV_SYNC
 	bool "Periodic advertising sync support [EXPERIMENTAL]"
 	depends on BT_OBSERVER
+	select EXPERIMENTAL
 	help
 	  Select this to enable Periodic Advertising Sync API support.
 	  Syncing with a periodic advertiser allows the device to periodically
diff --git a/subsys/bluetooth/Kconfig.iso b/subsys/bluetooth/Kconfig.iso
index 73322c08082d8a..3e5d7a39f0bc64 100644
--- a/subsys/bluetooth/Kconfig.iso
+++ b/subsys/bluetooth/Kconfig.iso
@@ -12,6 +12,7 @@ config BT_ISO_UNICAST
 	bool "Bluetooth Isochronous Channel Unicast Support [EXPERIMENTAL]"
 	depends on BT_CONN
 	select BT_ISO
+	select EXPERIMENTAL
 	help
 	  This option enables support for Bluetooth Broadcast
 	  Isochronous channels.
@@ -34,6 +35,7 @@ config BT_ISO_SYNC_RECEIVER
 	select BT_ISO_BROADCAST
 	select BT_OBSERVER
 	select BT_PER_ADV_SYNC
+	select EXPERIMENTAL
 	help
 	  This option enables support for the Bluetooth Isochronous
 	  Synchronized Receiver.
diff --git a/subsys/bluetooth/audio/Kconfig b/subsys/bluetooth/audio/Kconfig
index c5dd80f479fda2..a2c164c2ce07b8 100644
--- a/subsys/bluetooth/audio/Kconfig
+++ b/subsys/bluetooth/audio/Kconfig
@@ -7,7 +7,8 @@
 #
 
 menuconfig BT_AUDIO
-	bool "Bluetooth Audio support [Experimental]"
+	bool "Bluetooth Audio support [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  This option enables Bluetooth Audio support. The specific
 	  features that are available may depend on other features
diff --git a/subsys/bluetooth/controller/Kconfig b/subsys/bluetooth/controller/Kconfig
index 46f8fcdf5da062..3b642cd9c04c91 100644
--- a/subsys/bluetooth/controller/Kconfig
+++ b/subsys/bluetooth/controller/Kconfig
@@ -454,6 +454,7 @@ config BT_CTLR_ADV_EXT
 
 config BT_CTLR_ADV_EXT
 	prompt "LE Advertising Extensions [EXPERIMENTAL]" if BT_LL_SW_SPLIT
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 if BT_CTLR_ADV_EXT
 
@@ -490,6 +491,7 @@ config BT_CTLR_ADV_PERIODIC
 
 config BT_CTLR_ADV_PERIODIC
 	bool "LE Periodic Advertising in Advertising State [EXPERIMENTAL]" if BT_LL_SW_SPLIT
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 config BT_CTLR_SYNC_PERIODIC
 	bool "LE Periodic Advertising in Synchronization State" if !BT_LL_SW_SPLIT
@@ -502,6 +504,7 @@ config BT_CTLR_SYNC_PERIODIC
 
 config BT_CTLR_SYNC_PERIODIC
 	bool "LE Periodic Advertising in Synchronization State [EXPERIMENTAL]" if BT_LL_SW_SPLIT
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 config BT_CTLR_SYNC_PERIODIC_ADV_LIST
 	bool "LE Periodic Advertiser List support"
@@ -538,6 +541,7 @@ config BT_CTLR_ADV_ISO
 
 config BT_CTLR_ADV_ISO
 	bool "LE Broadcast Isochronous Channel advertising [EXPERIMENTAL]" if BT_LL_SW_SPLIT
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 config BT_CTLR_SYNC_ISO
 	bool "LE Broadcast Isochronous Channel advertising sync" if !BT_LL_SW_SPLIT
@@ -550,6 +554,7 @@ config BT_CTLR_SYNC_ISO
 
 config BT_CTLR_SYNC_ISO
 	bool "LE Broadcast Isochronous Channel advertising sync [EXPERIMENTAL]" if BT_LL_SW_SPLIT
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 config BT_CTLR_BROADCAST_ISO
 	bool
@@ -584,6 +589,7 @@ endif # BT_CTLR_ADV_EXT
 
 config BT_CTLR_SET_HOST_FEATURE
 	bool "LE Set Host Feature Command [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  Enables optional LE Set Host Feature Command
 
@@ -597,6 +603,7 @@ config BT_CTLR_CENTRAL_ISO
 config BT_CTLR_CENTRAL_ISO
 	bool "LE Connected Isochronous Stream Central [EXPERIMENTAL]" if BT_LL_SW_SPLIT
 	select BT_CTLR_SET_HOST_FEATURE
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 config BT_CTLR_PERIPHERAL_ISO
 	bool "LE Connected Isochronous Stream Peripheral" if !BT_LL_SW_SPLIT
@@ -608,6 +615,7 @@ config BT_CTLR_PERIPHERAL_ISO
 config BT_CTLR_PERIPHERAL_ISO
 	bool "LE Connected Isochronous Stream Peripheral [EXPERIMENTAL]" if BT_LL_SW_SPLIT
 	select BT_CTLR_SET_HOST_FEATURE
+	select EXPERIMENTAL if BT_LL_SW_SPLIT
 
 config BT_CTLR_CONN_ISO
 	bool
diff --git a/subsys/bluetooth/controller/Kconfig.df b/subsys/bluetooth/controller/Kconfig.df
index d2e90af6be5345..bc2e16a6c39afb 100644
--- a/subsys/bluetooth/controller/Kconfig.df
+++ b/subsys/bluetooth/controller/Kconfig.df
@@ -30,8 +30,9 @@ config BT_CTLR_CTEINLINE_SUPPORT
 	bool
 
 menuconfig BT_CTLR_DF
-	bool "LE Direction Finding [Experimental]"
+	bool "LE Direction Finding [EXPERIMENTAL]"
 	depends on BT_CTLR_DF_SUPPORT
+	select EXPERIMENTAL
 	help
 	  Enable support for Bluetooth 5.1 Direction Finding
 
diff --git a/subsys/bluetooth/host/Kconfig b/subsys/bluetooth/host/Kconfig
index 52b0c27b85f16c..38be04ebb05716 100644
--- a/subsys/bluetooth/host/Kconfig
+++ b/subsys/bluetooth/host/Kconfig
@@ -551,6 +551,7 @@ config BT_ID_MAX
 
 config BT_DF
 	bool "Enable Direction Finding support [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  Enable support for Bluetooth 5.1 Direction Finding.
 	  It will allow to: get information about antennae, configure
@@ -752,6 +753,7 @@ config BT_BREDR
 	select BT_CENTRAL
 	select BT_SMP
 	select BT_L2CAP_DYNAMIC_CHANNEL
+	select EXPERIMENTAL
 	help
 	  This option enables Bluetooth BR/EDR support
 
@@ -766,6 +768,7 @@ config BT_MAX_SCO_CONN
 
 config BT_RFCOMM
 	bool "Bluetooth RFCOMM protocol support [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  This option enables Bluetooth RFCOMM support
 
@@ -782,17 +785,20 @@ config BT_HFP_HF
 	bool "Bluetooth Handsfree profile HF Role support [EXPERIMENTAL]"
 	depends on PRINTK
 	select BT_RFCOMM
+	select EXPERIMENTAL
 	help
 	  This option enables Bluetooth HF support
 
 config BT_AVDTP
 	bool "Bluetooth AVDTP protocol support [EXPERIMENTAL]"
+	select EXPERIMENTAL
 	help
 	  This option enables Bluetooth AVDTP support
 
 config BT_A2DP
 	bool "Bluetooth A2DP Profile [EXPERIMENTAL]"
 	select BT_AVDTP
+	select EXPERIMENTAL
 	help
 	  This option enables the A2DP profile
 
diff --git a/subsys/bluetooth/host/Kconfig.gatt b/subsys/bluetooth/host/Kconfig.gatt
index 29e5d62b03059d..8e22a77b57020c 100644
--- a/subsys/bluetooth/host/Kconfig.gatt
+++ b/subsys/bluetooth/host/Kconfig.gatt
@@ -27,6 +27,7 @@ config BT_ATT_PREPARE_COUNT
 config BT_EATT
 	bool "Enhanced ATT Bearers support [EXPERIMENTAL]"
 	depends on BT_L2CAP_ECRED
+	select EXPERIMENTAL
 	help
 	  This option enables support for Enhanced ATT bearers support. When
 	  enabled additional L2CAP channels can be connected as bearers enabling
diff --git a/subsys/bluetooth/mesh/Kconfig b/subsys/bluetooth/mesh/Kconfig
index 9ec8c02326bfca..257833427e6284 100644
--- a/subsys/bluetooth/mesh/Kconfig
+++ b/subsys/bluetooth/mesh/Kconfig
@@ -69,6 +69,7 @@ config BT_MESH_PROVISIONER
 config BT_MESH_CDB
 	bool "Mesh Configuration Database [EXPERIMENTAL]"
 	default y if BT_MESH_PROVISIONER
+	select EXPERIMENTAL
 
 if BT_MESH_CDB
 
diff --git a/subsys/bluetooth/services/ots/Kconfig b/subsys/bluetooth/services/ots/Kconfig
index 78aa32ae4ca1cb..c211bee2627deb 100644
--- a/subsys/bluetooth/services/ots/Kconfig
+++ b/subsys/bluetooth/services/ots/Kconfig
@@ -8,6 +8,7 @@ config BT_OTS
 	select BT_L2CAP_DYNAMIC_CHANNEL
 	select BT_GATT_DYNAMIC_DB
 	select BT_SMP
+	select EXPERIMENTAL
 	help
 	  Enable Object Transfer Service.
 
diff --git a/subsys/canbus/isotp/Kconfig b/subsys/canbus/isotp/Kconfig
index 39decb9d6dfc99..c4733953df16f5 100644
--- a/subsys/canbus/isotp/Kconfig
+++ b/subsys/canbus/isotp/Kconfig
@@ -7,6 +7,7 @@ menuconfig ISOTP
 	bool "ISO-TP Transport [EXPERIMENTAL]"
 	select NET_BUF
 	select POLL
+	select EXPERIMENTAL
 	help
 	  Enable ISO TP support for CAN
 
diff --git a/subsys/net/l2/canbus/Kconfig b/subsys/net/l2/canbus/Kconfig
index 24cfc8c8ba723d..32bab9f4a08412 100644
--- a/subsys/net/l2/canbus/Kconfig
+++ b/subsys/net/l2/canbus/Kconfig
@@ -5,6 +5,7 @@ config NET_L2_CANBUS
 	bool "Enable CANBUS L2 layer [EXPERIMENTAL]"
 	depends on CAN_NET
 	select NET_6LO
+	select EXPERIMENTAL
 	help
 	  Add a CANBUS L2 layer driver. This is the layer for IPv6 over CAN
 	  (6loCAN). It uses IPHC to compress the IP header and ISO-TP for