diff --git a/drivers/net/can/c_can/c_can.h b/drivers/net/can/c_can/c_can.h
index 029cd8194ed5..64350777765e 100644
--- a/drivers/net/can/c_can/c_can.h
+++ b/drivers/net/can/c_can/c_can.h
@@ -211,6 +211,7 @@ struct c_can_priv {
 	struct c_can_raminit raminit_sys;	/* RAMINIT via syscon regmap */
 	void (*raminit)(const struct c_can_priv *priv, bool enable);
 	u32 comm_rcv_high;
+	raw_spinlock_t echo_skb_lock;	/* Protects echo_skb array access for RT kernel */
 };
 
 struct net_device *alloc_c_can_dev(int msg_obj_num);
diff --git a/drivers/net/can/c_can/c_can_main.c b/drivers/net/can/c_can/c_can_main.c
index 511615dc3341..46f09c92a23c 100644
--- a/drivers/net/can/c_can/c_can_main.c
+++ b/drivers/net/can/c_can/c_can_main.c
@@ -456,6 +456,7 @@ static netdev_tx_t c_can_start_xmit(struct sk_buff *skb,
 	struct c_can_priv *priv = netdev_priv(dev);
 	struct c_can_tx_ring *tx_ring = &priv->tx;
 	u32 idx, obj, cmd = IF_COMM_TX;
+	unsigned long flags;
 
 	if (can_dev_dropped_skb(dev, skb))
 		return NETDEV_TX_OK;
@@ -476,7 +477,10 @@ static netdev_tx_t c_can_start_xmit(struct sk_buff *skb,
 	 * transmit as we might race against do_tx().
 	 */
 	c_can_setup_tx_object(dev, IF_TX, frame, idx);
+	/* Minimal lock hold time - only during echo_skb write */
+	raw_spin_lock_irqsave(&priv->echo_skb_lock, flags);
 	can_put_echo_skb(skb, dev, idx, 0);
+	raw_spin_unlock_irqrestore(&priv->echo_skb_lock, flags);
 	obj = idx + priv->msg_obj_tx_first;
 	c_can_object_put(dev, IF_TX, obj, cmd);
 
@@ -740,7 +744,10 @@ static void c_can_do_tx(struct net_device *dev)
 		 * NAPI. We are not transmitting.
 		 */
 		c_can_inval_tx_object(dev, IF_NAPI, obj);
+		/* Minimal lock hold time - only during echo_skb read */
+		raw_spin_lock(&priv->echo_skb_lock);
 		bytes += can_get_echo_skb(dev, idx, NULL);
+		raw_spin_unlock(&priv->echo_skb_lock);
 		pkts++;
 	}
 
@@ -1224,6 +1231,7 @@ struct net_device *alloc_c_can_dev(int msg_obj_num)
 		return NULL;
 
 	priv = netdev_priv(dev);
+	raw_spin_lock_init(&priv->echo_skb_lock);
 	priv->msg_obj_num = msg_obj_num;
 	priv->msg_obj_rx_num = msg_obj_num - msg_obj_tx_num;
 	priv->msg_obj_rx_first = 1;