diff --git a/drivers/Kconfig b/drivers/Kconfig
index 969a6d9e3b5a..829c69c45589 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -14,6 +14,7 @@ rsource "Kconfig.net"
 
 menu "Sensor Device Drivers"
 rsource "ads101x/Kconfig"
+rsource "bmx055/Kconfig"
 rsource "fxos8700/Kconfig"
 rsource "hdc1000/Kconfig"
 rsource "mag3110/Kconfig"
diff --git a/drivers/bmx055/Kconfig b/drivers/bmx055/Kconfig
new file mode 100644
index 000000000000..d9837608fb56
--- /dev/null
+++ b/drivers/bmx055/Kconfig
@@ -0,0 +1,42 @@
+# Copyright (c) 2020 Freie Universitaet Berlin
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+menuconfig KCONFIG_MODULE_BMX055
+    bool "Configure BMX055 driver"
+    depends on MODULE_BMX055
+    help
+        Configure the BMX055 driver using Kconfig.
+
+if KCONFIG_MODULE_BMX055
+
+config BMX055_MAG_ADDR_DEFAULT
+    hex "I2C Address of magnetometer"
+    range 0x10 0x13
+    default 0x10
+    help
+        The address depends on the state of SDO1, SDO2 and CSB3 pins.
+        For more information refer to the section 'Inter-Integrated
+        Circuit (I²C)' in the datasheet.
+
+config BMX055_ACC_ADDR_DEFAULT
+    hex "I2C Address of accelerometer"
+    range 0x18 0x19
+    default 0x18
+    help
+        The address depends on the state of SDO1, SDO2 and CSB3 pins.
+        For more information refer to the section 'Inter-Integrated
+        Circuit (I²C)' in the datasheet.
+
+config BMX055_GYRO_ADDR_DEFAULT
+    hex "I2C Address of gyroscope"
+    range 0x68 0x69
+    default 0x68
+    help
+        The address depends on the state of SDO1, SDO2 and CSB3 pins.
+        For more information refer to the section 'Inter-Integrated
+        Circuit (I²C)' in the datasheet.
+
+endif # KCONFIG_MODULE_BMX055
diff --git a/drivers/bmx055/include/bmx055_params.h b/drivers/bmx055/include/bmx055_params.h
index 0cedccf5e1fc..c4e20afc5cd5 100644
--- a/drivers/bmx055/include/bmx055_params.h
+++ b/drivers/bmx055/include/bmx055_params.h
@@ -33,13 +33,13 @@ extern "C" {
 #define BMX055_PARAM_I2C        I2C_DEV(0)
 #endif
 #ifndef BMX055_PARAM_MAG_ADDR
-#define BMX055_PARAM_MAG_ADDR   BMX055_MAG_ADDR_DEFAULT
+#define BMX055_PARAM_MAG_ADDR   CONFIG_BMX055_MAG_ADDR_DEFAULT
 #endif
 #ifndef BMX055_PARAM_ACC_ADDR
-#define BMX055_PARAM_ACC_ADDR   BMX055_ACC_ADDR_DEFAULT
+#define BMX055_PARAM_ACC_ADDR   CONFIG_BMX055_ACC_ADDR_DEFAULT
 #endif
 #ifndef BMX055_PARAM_GYRO_ADDR
-#define BMX055_PARAM_GYRO_ADDR  BMX055_GYRO_ADDR_DEFAULT
+#define BMX055_PARAM_GYRO_ADDR  CONFIG_BMX055_GYRO_ADDR_DEFAULT
 #endif
 #ifndef BMX055_PARAM_INT1
 #define BMX055_PARAM_INT1       GPIO_PIN(0, 0)
diff --git a/drivers/include/bmx055.h b/drivers/include/bmx055.h
index bb33fb955d81..755f64c50442 100644
--- a/drivers/include/bmx055.h
+++ b/drivers/include/bmx055.h
@@ -43,31 +43,34 @@ extern "C" {
 /**
  * @brief Magnetometer default address
  *
- * The address depends on part number of SDO1, SDO2 and CSB3.
- * For more information on SerialBus Address, refer section 11.2 in datasheet.
+ * The address depends on the state of SDO1, SDO2 and CSB3 pins.
+ * For more information refer to the section 'Inter-Integrated
+ * Circuit (I²C)' in the datasheet.
  */
-#ifndef BMX055_MAG_ADDR_DEFAULT
-#define BMX055_MAG_ADDR_DEFAULT  (0x10U)
+#ifndef CONFIG_BMX055_MAG_ADDR_DEFAULT
+#define CONFIG_BMX055_MAG_ADDR_DEFAULT  (0x10U)
 #endif
 
 /**
  * @brief Accelerometer default address
  *
- * The address depends on part number of SDO1, SDO2 and CSB3.
- * For more information on SerialBus Address, refer section 11.2 in datasheet.
+ * The address depends on the state of SDO1, SDO2 and CSB3 pins.
+ * For more information refer to the section 'Inter-Integrated
+ * Circuit (I²C)' in the datasheet.
  */
-#ifndef BMX055_ACC_ADDR_DEFAULT
-#define BMX055_ACC_ADDR_DEFAULT  (0x18U)
+#ifndef CONFIG_BMX055_ACC_ADDR_DEFAULT
+#define CONFIG_BMX055_ACC_ADDR_DEFAULT  (0x18U)
 #endif
 
 /**
  * @brief Gyroscope default address
  *
- * The address depends on part number of SDO1, SDO2 and CSB3.
- * For more information on SerialBus Address, refer section 11.2 in datasheet.
+ * The address depends on the state of SDO1, SDO2 and CSB3 pins.
+ * For more information refer to the section 'Inter-Integrated
+ * Circuit (I²C)' in the datasheet.
  */
-#ifndef BMX055_GYRO_ADDR_DEFAULT
-#define BMX055_GYRO_ADDR_DEFAULT (0x68U)
+#ifndef CONFIG_BMX055_GYRO_ADDR_DEFAULT
+#define CONFIG_BMX055_GYRO_ADDR_DEFAULT (0x68U)
 #endif
 /** @} */