diff --git a/cmd/ti/Kconfig b/cmd/ti/Kconfig
index efeff0d..db55744 100644
--- a/cmd/ti/Kconfig
+++ b/cmd/ti/Kconfig
@@ -7,4 +7,12 @@
 	   supports memory verification, memory comapre and ecc
 	   verification if supported.
 
+config CMD_PD
+	bool "command for verifying power domains"
+	depends on TI_POWER_DOMAIN
+	help
+	   Debug command for K3 power domains. For this to work, the
+	   K3 power domain driver must be enabled for the u-boot; by
+	   default it is only enabled for SPL.
+
 endmenu
diff --git a/cmd/ti/Makefile b/cmd/ti/Makefile
index 16fbade..0455933 100644
--- a/cmd/ti/Makefile
+++ b/cmd/ti/Makefile
@@ -5,4 +5,5 @@
 
 ifndef CONFIG_SPL_BUILD
 obj-$(CONFIG_CMD_DDR3) += ddr3.o
+obj-$(CONFIG_CMD_PD) += pd.o
 endif
diff --git a/cmd/ti/pd.c b/cmd/ti/pd.c
new file mode 100644
index 0000000..9e820b8
--- /dev/null
+++ b/cmd/ti/pd.c
@@ -0,0 +1,185 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Power Domain test commands
+ *
+ * Copyright (C) 2020 Texas Instruments Incorporated, <www.ti.com>
+ */
+
+#include <common.h>
+#include <command.h>
+#include <dm.h>
+#include <k3-dev.h>
+
+static const struct udevice_id ti_pd_of_match[] = {
+	{ .compatible = "ti,sci-pm-domain" },
+	{ /* sentinel */ }
+};
+
+static struct ti_k3_pd_platdata *ti_pd_find_data(void)
+{
+	struct udevice *dev;
+	int i = 0;
+
+	while (1) {
+		uclass_get_device(UCLASS_POWER_DOMAIN, i++, &dev);
+		if (!dev)
+			return NULL;
+
+		if (device_is_compatible(dev,
+					 ti_pd_of_match[0].compatible))
+			return  dev_get_priv(dev);
+	}
+
+	return NULL;
+}
+
+static void dump_lpsc(struct ti_k3_pd_platdata *data, struct ti_pd *pd)
+{
+	int i;
+	struct ti_lpsc *lpsc;
+	u8 state;
+	static const char * const lpsc_states[] = {
+		"swrstdis", "syncrst", "disable", "enable", "autosleep",
+		"autowake", "unknown",
+	};
+
+	for (i = 0; i < data->num_lpsc; i++) {
+		lpsc = &data->lpsc[i];
+		if (lpsc->pd != pd)
+			continue;
+		state = lpsc_get_state(lpsc);
+		if (state > ARRAY_SIZE(lpsc_states))
+			state = ARRAY_SIZE(lpsc_states) - 1;
+		printf("    LPSC%d: state=%s, usecount=%d\n",
+		       lpsc->id, lpsc_states[state], lpsc->usecount);
+	}
+}
+
+static void dump_pd(struct ti_k3_pd_platdata *data, struct ti_psc *psc)
+{
+	int i;
+	struct ti_pd *pd;
+	u8 state;
+	static const char * const pd_states[] = {
+		"off", "on", "unknown"
+	};
+
+	for (i = 0; i < data->num_pd; i++) {
+		pd = &data->pd[i];
+		if (pd->psc != psc)
+			continue;
+		state = ti_pd_state(pd);
+		if (state > ARRAY_SIZE(pd_states))
+			state = ARRAY_SIZE(pd_states) - 1;
+		printf("  PD%d: state=%s, usecount=%d:\n",
+		       pd->id, pd_states[state], pd->usecount);
+		dump_lpsc(data, pd);
+	}
+}
+
+static void dump_psc(struct ti_k3_pd_platdata *data)
+{
+	int i;
+	struct ti_psc *psc;
+
+	for (i = 0; i < data->num_psc; i++) {
+		psc = &data->psc[i];
+		printf("PSC%d [%p]:\n", psc->id, psc->base);
+		dump_pd(data, psc);
+	}
+}
+
+static int do_pd_dump(struct cmd_tbl *cmdtp, int flag, int argc,
+		      char *const argv[])
+{
+	struct ti_k3_pd_platdata *data;
+
+	data = ti_pd_find_data();
+	if (!data)
+		return CMD_RET_FAILURE;
+
+	dump_psc(data);
+
+	return 0;
+}
+
+static int do_pd_endis(int argc, char *const argv[], u8 state)
+{
+	u32 psc_id;
+	u32 lpsc_id;
+	int i;
+	struct ti_k3_pd_platdata *data;
+	struct ti_lpsc *lpsc;
+	int ret;
+
+	if (argc < 3)
+		return CMD_RET_FAILURE;
+
+	data = ti_pd_find_data();
+	if (!data)
+		return CMD_RET_FAILURE;
+
+	psc_id = simple_strtoul(argv[1], NULL, 10);
+	lpsc_id = simple_strtoul(argv[2], NULL, 10);
+
+	for (i = 0; i < data->num_lpsc; i++) {
+		lpsc = &data->lpsc[i];
+		if (lpsc->pd->psc->id != psc_id)
+			continue;
+		if (lpsc->id != lpsc_id)
+			continue;
+		printf("%s pd [PSC:%d,LPSC:%d]...\n",
+		       state == MDSTAT_STATE_ENABLE ? "Enabling" : "Disabling",
+		       psc_id, lpsc_id);
+		ret = ti_lpsc_transition(lpsc, state);
+		if (ret)
+			return CMD_RET_FAILURE;
+		else
+			return 0;
+	}
+
+	printf("No matching psc/lpsc found.\n");
+
+	return CMD_RET_FAILURE;
+}
+
+static int do_pd_enable(struct cmd_tbl *cmdtp, int flag, int argc,
+			char *const argv[])
+{
+	return do_pd_endis(argc, argv, MDSTAT_STATE_ENABLE);
+}
+
+static int do_pd_disable(struct cmd_tbl *cmdtp, int flag, int argc,
+			 char *const argv[])
+{
+	return do_pd_endis(argc, argv, MDSTAT_STATE_SWRSTDISABLE);
+}
+
+static struct cmd_tbl cmd_pd[] = {
+	U_BOOT_CMD_MKENT(dump, 1, 0, do_pd_dump, "", ""),
+	U_BOOT_CMD_MKENT(enable, 3, 0, do_pd_enable, "", ""),
+	U_BOOT_CMD_MKENT(disable, 3, 0, do_pd_disable, "", ""),
+};
+
+static int ti_do_pd(struct cmd_tbl *cmdtp, int flag, int argc, char * const argv[])
+{
+	struct cmd_tbl *c;
+
+	argc--;
+	argv++;
+
+	c = find_cmd_tbl(argv[0], cmd_pd, ARRAY_SIZE(cmd_pd));
+	if (c)
+		return c->cmd(cmdtp, flag, argc, argv);
+	else
+		return CMD_RET_USAGE;
+}
+
+U_BOOT_CMD(pd, 4, 1, ti_do_pd,
+	   "TI power domain control",
+#if CONFIG_IS_ENABLED(SYS_LONGHELP)
+	   "dump                 - show power domain status\n"
+	   "enable [psc] [lpsc]  - enable power domain\n"
+	   "disable [psc] [lpsc] - disable power domain\n"
+#endif
+);