diff --git a/drivers/net/ethernet/mellanox/mlxsw/spectrum.h b/drivers/net/ethernet/mellanox/mlxsw/spectrum.h
index 4b4d643abcebe..63cc8fa3fa626 100644
--- a/drivers/net/ethernet/mellanox/mlxsw/spectrum.h
+++ b/drivers/net/ethernet/mellanox/mlxsw/spectrum.h
@@ -239,11 +239,12 @@ struct mlxsw_sp_port_pcpu_stats {
 enum mlxsw_sp_sample_trigger_type {
 	MLXSW_SP_SAMPLE_TRIGGER_TYPE_INGRESS,
 	MLXSW_SP_SAMPLE_TRIGGER_TYPE_EGRESS,
+	MLXSW_SP_SAMPLE_TRIGGER_TYPE_POLICY_ENGINE,
 };
 
 struct mlxsw_sp_sample_trigger {
 	enum mlxsw_sp_sample_trigger_type type;
-	u8 local_port;
+	u8 local_port; /* Reserved when trigger type is not ingress / egress. */
 };
 
 struct mlxsw_sp_sample_params {
@@ -946,6 +947,12 @@ int mlxsw_sp_acl_rulei_act_count(struct mlxsw_sp *mlxsw_sp,
 int mlxsw_sp_acl_rulei_act_fid_set(struct mlxsw_sp *mlxsw_sp,
 				   struct mlxsw_sp_acl_rule_info *rulei,
 				   u16 fid, struct netlink_ext_ack *extack);
+int mlxsw_sp_acl_rulei_act_sample(struct mlxsw_sp *mlxsw_sp,
+				  struct mlxsw_sp_acl_rule_info *rulei,
+				  struct mlxsw_sp_flow_block *block,
+				  struct psample_group *psample_group, u32 rate,
+				  u32 trunc_size, bool truncate,
+				  struct netlink_ext_ack *extack);
 
 struct mlxsw_sp_acl_rule;
 
diff --git a/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl.c b/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl.c
index 8cfa03a753744..67cedfa76f787 100644
--- a/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl.c
+++ b/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl.c
@@ -688,6 +688,31 @@ int mlxsw_sp_acl_rulei_act_fid_set(struct mlxsw_sp *mlxsw_sp,
 	return mlxsw_afa_block_append_fid_set(rulei->act_block, fid, extack);
 }
 
+int mlxsw_sp_acl_rulei_act_sample(struct mlxsw_sp *mlxsw_sp,
+				  struct mlxsw_sp_acl_rule_info *rulei,
+				  struct mlxsw_sp_flow_block *block,
+				  struct psample_group *psample_group, u32 rate,
+				  u32 trunc_size, bool truncate,
+				  struct netlink_ext_ack *extack)
+{
+	struct mlxsw_sp_flow_block_binding *binding;
+	struct mlxsw_sp_port *mlxsw_sp_port;
+
+	if (!list_is_singular(&block->binding_list)) {
+		NL_SET_ERR_MSG_MOD(extack, "Only a single sampling source is allowed");
+		return -EOPNOTSUPP;
+	}
+	binding = list_first_entry(&block->binding_list,
+				   struct mlxsw_sp_flow_block_binding, list);
+	mlxsw_sp_port = binding->mlxsw_sp_port;
+
+	return mlxsw_afa_block_append_sampler(rulei->act_block,
+					      mlxsw_sp_port->local_port,
+					      psample_group, rate, trunc_size,
+					      truncate, binding->ingress,
+					      extack);
+}
+
 struct mlxsw_sp_acl_rule *
 mlxsw_sp_acl_rule_create(struct mlxsw_sp *mlxsw_sp,
 			 struct mlxsw_sp_acl_ruleset *ruleset,
diff --git a/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl_flex_actions.c b/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl_flex_actions.c
index 90372d1c28d41..c72aa38424dc6 100644
--- a/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl_flex_actions.c
+++ b/drivers/net/ethernet/mellanox/mlxsw/spectrum_acl_flex_actions.c
@@ -192,6 +192,22 @@ static void mlxsw_sp_act_policer_del(void *priv, u16 policer_index)
 			     policer_index);
 }
 
+static int mlxsw_sp1_act_sampler_add(void *priv, u8 local_port,
+				     struct psample_group *psample_group,
+				     u32 rate, u32 trunc_size, bool truncate,
+				     bool ingress, int *p_span_id,
+				     struct netlink_ext_ack *extack)
+{
+	NL_SET_ERR_MSG_MOD(extack, "Sampling action is not supported on Spectrum-1");
+	return -EOPNOTSUPP;
+}
+
+static void mlxsw_sp1_act_sampler_del(void *priv, u8 local_port, int span_id,
+				      bool ingress)
+{
+	WARN_ON_ONCE(1);
+}
+
 const struct mlxsw_afa_ops mlxsw_sp1_act_afa_ops = {
 	.kvdl_set_add		= mlxsw_sp1_act_kvdl_set_add,
 	.kvdl_set_del		= mlxsw_sp_act_kvdl_set_del,
@@ -204,8 +220,73 @@ const struct mlxsw_afa_ops mlxsw_sp1_act_afa_ops = {
 	.mirror_del		= mlxsw_sp_act_mirror_del,
 	.policer_add		= mlxsw_sp_act_policer_add,
 	.policer_del		= mlxsw_sp_act_policer_del,
+	.sampler_add		= mlxsw_sp1_act_sampler_add,
+	.sampler_del		= mlxsw_sp1_act_sampler_del,
 };
 
+static int mlxsw_sp2_act_sampler_add(void *priv, u8 local_port,
+				     struct psample_group *psample_group,
+				     u32 rate, u32 trunc_size, bool truncate,
+				     bool ingress, int *p_span_id,
+				     struct netlink_ext_ack *extack)
+{
+	struct mlxsw_sp_span_agent_parms agent_parms = {
+		.session_id = MLXSW_SP_SPAN_SESSION_ID_SAMPLING,
+	};
+	struct mlxsw_sp_sample_trigger trigger = {
+		.type = MLXSW_SP_SAMPLE_TRIGGER_TYPE_POLICY_ENGINE,
+	};
+	struct mlxsw_sp_sample_params params;
+	struct mlxsw_sp_port *mlxsw_sp_port;
+	struct mlxsw_sp *mlxsw_sp = priv;
+	int err;
+
+	params.psample_group = psample_group;
+	params.trunc_size = trunc_size;
+	params.rate = rate;
+	params.truncate = truncate;
+	err = mlxsw_sp_sample_trigger_params_set(mlxsw_sp, &trigger, &params,
+						 extack);
+	if (err)
+		return err;
+
+	err = mlxsw_sp_span_agent_get(mlxsw_sp, p_span_id, &agent_parms);
+	if (err) {
+		NL_SET_ERR_MSG_MOD(extack, "Failed to get SPAN agent");
+		goto err_span_agent_get;
+	}
+
+	mlxsw_sp_port = mlxsw_sp->ports[local_port];
+	err = mlxsw_sp_span_analyzed_port_get(mlxsw_sp_port, ingress);
+	if (err) {
+		NL_SET_ERR_MSG_MOD(extack, "Failed to get analyzed port");
+		goto err_analyzed_port_get;
+	}
+
+	return 0;
+
+err_analyzed_port_get:
+	mlxsw_sp_span_agent_put(mlxsw_sp, *p_span_id);
+err_span_agent_get:
+	mlxsw_sp_sample_trigger_params_unset(mlxsw_sp, &trigger);
+	return err;
+}
+
+static void mlxsw_sp2_act_sampler_del(void *priv, u8 local_port, int span_id,
+				      bool ingress)
+{
+	struct mlxsw_sp_sample_trigger trigger = {
+		.type = MLXSW_SP_SAMPLE_TRIGGER_TYPE_POLICY_ENGINE,
+	};
+	struct mlxsw_sp_port *mlxsw_sp_port;
+	struct mlxsw_sp *mlxsw_sp = priv;
+
+	mlxsw_sp_port = mlxsw_sp->ports[local_port];
+	mlxsw_sp_span_analyzed_port_put(mlxsw_sp_port, ingress);
+	mlxsw_sp_span_agent_put(mlxsw_sp, span_id);
+	mlxsw_sp_sample_trigger_params_unset(mlxsw_sp, &trigger);
+}
+
 const struct mlxsw_afa_ops mlxsw_sp2_act_afa_ops = {
 	.kvdl_set_add		= mlxsw_sp2_act_kvdl_set_add,
 	.kvdl_set_del		= mlxsw_sp_act_kvdl_set_del,
@@ -218,6 +299,8 @@ const struct mlxsw_afa_ops mlxsw_sp2_act_afa_ops = {
 	.mirror_del		= mlxsw_sp_act_mirror_del,
 	.policer_add		= mlxsw_sp_act_policer_add,
 	.policer_del		= mlxsw_sp_act_policer_del,
+	.sampler_add		= mlxsw_sp2_act_sampler_add,
+	.sampler_del		= mlxsw_sp2_act_sampler_del,
 	.dummy_first_set	= true,
 };
 
diff --git a/drivers/net/ethernet/mellanox/mlxsw/spectrum_flower.c b/drivers/net/ethernet/mellanox/mlxsw/spectrum_flower.c
index ea637fa552f56..be3791ca6069d 100644
--- a/drivers/net/ethernet/mellanox/mlxsw/spectrum_flower.c
+++ b/drivers/net/ethernet/mellanox/mlxsw/spectrum_flower.c
@@ -24,6 +24,7 @@ static int mlxsw_sp_flower_parse_actions(struct mlxsw_sp *mlxsw_sp,
 	const struct flow_action_entry *act;
 	int mirror_act_count = 0;
 	int police_act_count = 0;
+	int sample_act_count = 0;
 	int err, i;
 
 	if (!flow_action_has_entries(flow_action))
@@ -209,6 +210,23 @@ static int mlxsw_sp_flower_parse_actions(struct mlxsw_sp *mlxsw_sp,
 				return err;
 			break;
 			}
+		case FLOW_ACTION_SAMPLE: {
+			if (sample_act_count++) {
+				NL_SET_ERR_MSG_MOD(extack, "Multiple sample actions per rule are not supported");
+				return -EOPNOTSUPP;
+			}
+
+			err = mlxsw_sp_acl_rulei_act_sample(mlxsw_sp, rulei,
+							    block,
+							    act->sample.psample_group,
+							    act->sample.rate,
+							    act->sample.trunc_size,
+							    act->sample.truncate,
+							    extack);
+			if (err)
+				return err;
+			break;
+			}
 		default:
 			NL_SET_ERR_MSG_MOD(extack, "Unsupported action");
 			dev_err(mlxsw_sp->bus_info->dev, "Unsupported action\n");
diff --git a/drivers/net/ethernet/mellanox/mlxsw/spectrum_trap.c b/drivers/net/ethernet/mellanox/mlxsw/spectrum_trap.c
index 3dbf5e53e9ff8..26d01adbedad3 100644
--- a/drivers/net/ethernet/mellanox/mlxsw/spectrum_trap.c
+++ b/drivers/net/ethernet/mellanox/mlxsw/spectrum_trap.c
@@ -51,6 +51,8 @@ enum {
 enum {
 	/* Packet was mirrored from ingress. */
 	MLXSW_SP_MIRROR_REASON_INGRESS = 1,
+	/* Packet was mirrored from policy engine. */
+	MLXSW_SP_MIRROR_REASON_POLICY_ENGINE = 2,
 	/* Packet was early dropped. */
 	MLXSW_SP_MIRROR_REASON_INGRESS_WRED = 9,
 	/* Packet was mirrored from egress. */
@@ -341,6 +343,42 @@ static void mlxsw_sp_rx_sample_tx_listener(struct sk_buff *skb, u8 local_port,
 	consume_skb(skb);
 }
 
+static void mlxsw_sp_rx_sample_acl_listener(struct sk_buff *skb, u8 local_port,
+					    void *trap_ctx)
+{
+	struct mlxsw_sp *mlxsw_sp = devlink_trap_ctx_priv(trap_ctx);
+	struct mlxsw_sp_sample_trigger trigger = {
+		.type = MLXSW_SP_SAMPLE_TRIGGER_TYPE_POLICY_ENGINE,
+	};
+	struct mlxsw_sp_sample_params *params;
+	struct mlxsw_sp_port *mlxsw_sp_port;
+	struct psample_metadata md = {};
+	int err;
+
+	err = __mlxsw_sp_rx_no_mark_listener(skb, local_port, trap_ctx);
+	if (err)
+		return;
+
+	mlxsw_sp_port = mlxsw_sp->ports[local_port];
+	if (!mlxsw_sp_port)
+		goto out;
+
+	params = mlxsw_sp_sample_trigger_params_lookup(mlxsw_sp, &trigger);
+	if (!params)
+		goto out;
+
+	/* The psample module expects skb->data to point to the start of the
+	 * Ethernet header.
+	 */
+	skb_push(skb, ETH_HLEN);
+	mlxsw_sp_psample_md_init(mlxsw_sp, &md, skb,
+				 mlxsw_sp_port->dev->ifindex, params->truncate,
+				 params->trunc_size);
+	psample_sample_packet(params->psample_group, skb, params->rate, &md);
+out:
+	consume_skb(skb);
+}
+
 #define MLXSW_SP_TRAP_DROP(_id, _group_id)				      \
 	DEVLINK_TRAP_GENERIC(DROP, DROP, _id,				      \
 			     DEVLINK_TRAP_GROUP_GENERIC_ID_##_group_id,	      \
@@ -1898,6 +1936,9 @@ mlxsw_sp2_trap_items_arr[] = {
 			MLXSW_RXL_MIRROR(mlxsw_sp_rx_sample_tx_listener, 1,
 					 SP_PKT_SAMPLE,
 					 MLXSW_SP_MIRROR_REASON_EGRESS),
+			MLXSW_RXL_MIRROR(mlxsw_sp_rx_sample_acl_listener, 1,
+					 SP_PKT_SAMPLE,
+					 MLXSW_SP_MIRROR_REASON_POLICY_ENGINE),
 		},
 	},
 };