diff --git a/drivers/can/can_mcan.c b/drivers/can/can_mcan.c
index 0655d3d9e5a35ae..5d2f0a026912f1f 100644
--- a/drivers/can/can_mcan.c
+++ b/drivers/can/can_mcan.c
@@ -524,13 +524,67 @@ static void can_mcan_tx_event_handler(const struct device *dev)
 	}
 }
 
+#if CONFIG_CAN_STATS
+static void can_mcan_lec_update_stats(const struct device *dev, uint32_t lec)
+{
+	switch (lec) {
+	case CAN_MCAN_PSR_LEC_STUFF_ERROR:
+		CAN_STATS_STUFF_ERROR_INC(dev);
+		break;
+	case CAN_MCAN_PSR_LEC_FORM_ERROR:
+		CAN_STATS_FORM_ERROR_INC(dev);
+		break;
+	case CAN_MCAN_PSR_LEC_ACK_ERROR:
+		CAN_STATS_ACK_ERROR_INC(dev);
+		break;
+	case CAN_MCAN_PSR_LEC_BIT1_ERROR:
+		CAN_STATS_BIT1_ERROR_INC(dev);
+		break;
+	case CAN_MCAN_PSR_LEC_BIT0_ERROR:
+		CAN_STATS_BIT0_ERROR_INC(dev);
+		break;
+	case CAN_MCAN_PSR_LEC_CRC_ERROR:
+		CAN_STATS_CRC_ERROR_INC(dev);
+		break;
+	case CAN_MCAN_PSR_LEC_NO_ERROR:
+	case CAN_MCAN_PSR_LEC_NO_CHANGE:
+	default:
+		break;
+	}
+}
+
+static void can_mcan_psr_update_stats(const struct device *dev, uint32_t psr_reg)
+{
+	/* Reading the lower byte of the PSR register clears the protocol last
+	 * error codes (LEC). To avoid missing errors, this function should be
+	 * called whenever the PSR register is read.
+	 */
+	/* TODO: Protocol Exception Event (PXE) not working...
+	 * if ((psr_reg & CAN_MCAN_PSR_PXE) != 0U)
+	 */
+	{
+		/* A protocol error has occurred since the last read, update stats */
+		uint32_t lec;
+
+		lec = FIELD_GET(CAN_MCAN_PSR_LEC, psr_reg);
+		can_mcan_lec_update_stats(dev, lec);
+#ifdef CONFIG_CAN_FD_MODE
+		lec = FIELD_GET(CAN_MCAN_PSR_DLEC, psr_reg);
+		can_mcan_lec_update_stats(dev, lec);
+#endif
+	}
+}
+#else
+#define can_mcan_psr_update_stats(dev, psr_reg)
+#endif
+
 void can_mcan_line_0_isr(const struct device *dev)
 {
 	const uint32_t events = CAN_MCAN_IR_BO | CAN_MCAN_IR_EP | CAN_MCAN_IR_EW |
 				CAN_MCAN_IR_TEFN | CAN_MCAN_IR_TEFL | CAN_MCAN_IR_ARA |
-				CAN_MCAN_IR_MRAF;
+				CAN_MCAN_IR_MRAF | CAN_MCAN_IR_PEA | CAN_MCAN_IR_PED;
 	struct can_mcan_data *data = dev->data;
-	uint32_t ir;
+	uint32_t ir, reg;
 	int err;
 
 	err = can_mcan_read_reg(dev, CAN_MCAN_IR, &ir);
@@ -562,10 +616,19 @@ void can_mcan_line_0_isr(const struct device *dev)
 			LOG_ERR("Access to reserved address");
 		}
 
-		if (ir & CAN_MCAN_IR_MRAF) {
+		if ((ir & CAN_MCAN_IR_MRAF) != 0U) {
 			LOG_ERR("Message RAM access failure");
 		}
 
+		if ((ir & (CAN_MCAN_IR_PEA | CAN_MCAN_IR_PED)) != 0U) {
+			LOG_WRN("Protocol Error");
+			/* Read and update protocol error stats */
+			err = can_mcan_read_reg(dev, CAN_MCAN_PSR, &reg);
+			if (err == 0) {
+				can_mcan_psr_update_stats(dev, reg);
+			}
+		}
+
 		err = can_mcan_read_reg(dev, CAN_MCAN_IR, &ir);
 		if (err != 0) {
 			return;
@@ -739,10 +802,12 @@ void can_mcan_line_1_isr(const struct device *dev)
 
 		if ((ir & CAN_MCAN_IR_RF0L) != 0U) {
 			LOG_ERR("Message lost on FIFO0");
+			CAN_STATS_RX_OVERRUN_INC(dev);
 		}
 
 		if ((ir & CAN_MCAN_IR_RF1L) != 0U) {
 			LOG_ERR("Message lost on FIFO1");
+			CAN_STATS_RX_OVERRUN_INC(dev);
 		}
 
 		err = can_mcan_read_reg(dev, CAN_MCAN_IR, &ir);
@@ -764,6 +829,7 @@ int can_mcan_get_state(const struct device *dev, enum can_state *state,
 		if (err != 0) {
 			return err;
 		}
+		can_mcan_psr_update_stats(dev, reg);
 
 		if (!data->started) {
 			*state = CAN_STATE_STOPPED;
@@ -881,6 +947,7 @@ int can_mcan_send(const struct device *dev, const struct can_frame *frame, k_tim
 	if (err != 0) {
 		return err;
 	}
+	can_mcan_psr_update_stats(dev, reg);
 
 	if ((reg & CAN_MCAN_PSR_BO) != 0U) {
 		return -ENETUNREACH;
@@ -1455,7 +1522,7 @@ int can_mcan_init(const struct device *dev)
 
 	reg = CAN_MCAN_IE_BOE | CAN_MCAN_IE_EWE | CAN_MCAN_IE_EPE | CAN_MCAN_IE_MRAFE |
 	      CAN_MCAN_IE_TEFLE | CAN_MCAN_IE_TEFNE | CAN_MCAN_IE_RF0NE | CAN_MCAN_IE_RF1NE |
-	      CAN_MCAN_IE_RF0LE | CAN_MCAN_IE_RF1LE;
+	      CAN_MCAN_IE_RF0LE | CAN_MCAN_IE_RF1LE | CAN_MCAN_IE_PEAE | CAN_MCAN_IE_PEDE;
 
 	err = can_mcan_write_reg(dev, CAN_MCAN_IE, reg);
 	if (err != 0) {
diff --git a/include/zephyr/drivers/can/can_mcan.h b/include/zephyr/drivers/can/can_mcan.h
index c1a1fb9f85d2f1f..c860715a1e8bcd8 100644
--- a/include/zephyr/drivers/can/can_mcan.h
+++ b/include/zephyr/drivers/can/can_mcan.h
@@ -127,6 +127,15 @@
 #define CAN_MCAN_PSR_ACT  GENMASK(4, 3)
 #define CAN_MCAN_PSR_LEC  GENMASK(2, 0)
 
+#define CAN_MCAN_PSR_LEC_NO_ERROR    0
+#define CAN_MCAN_PSR_LEC_STUFF_ERROR 1
+#define CAN_MCAN_PSR_LEC_FORM_ERROR  2
+#define CAN_MCAN_PSR_LEC_ACK_ERROR   3
+#define CAN_MCAN_PSR_LEC_BIT1_ERROR  4
+#define CAN_MCAN_PSR_LEC_BIT0_ERROR  5
+#define CAN_MCAN_PSR_LEC_CRC_ERROR   6
+#define CAN_MCAN_PSR_LEC_NO_CHANGE   7
+
 /* Transmitter Delay Compensation register */
 #define CAN_MCAN_TDCR      0x048
 #define CAN_MCAN_TDCR_TDCO GENMASK(14, 8)