diff --git a/kernel/locking/rtmutex.c b/kernel/locking/rtmutex.c
index af7e3af4d313..3eaf636606fd 100644
--- a/kernel/locking/rtmutex.c
+++ b/kernel/locking/rtmutex.c
@@ -338,6 +338,26 @@ static __always_inline int rt_mutex_waiter_equal(struct rt_mutex_waiter *left,
 	return 1;
 }
 
+static inline bool rt_mutex_steal(struct rt_mutex_waiter *waiter,
+				  struct rt_mutex_waiter *top_waiter)
+{
+	if (rt_mutex_waiter_less(waiter, top_waiter))
+		return true;
+
+#ifdef RT_MUTEX_BUILD_SPINLOCKS
+	/*
+	 * Note that RT tasks are excluded from same priority (lateral)
+	 * steals to prevent the introduction of an unbounded latency.
+	 */
+	if (rt_prio(waiter->prio) || dl_prio(waiter->prio))
+		return false;
+
+	return rt_mutex_waiter_equal(waiter, top_waiter);
+#else
+	return false;
+#endif
+}
+
 #define __node_2_waiter(node) \
 	rb_entry((node), struct rt_mutex_waiter, tree_entry)
 
@@ -932,19 +952,21 @@ try_to_take_rt_mutex(struct rt_mutex_base *lock, struct task_struct *task,
 	 * trylock attempt.
 	 */
 	if (waiter) {
+		struct rt_mutex_waiter *top_waiter = rt_mutex_top_waiter(lock);
+
 		/*
-		 * If waiter is not the highest priority waiter of
-		 * @lock, give up.
+		 * If waiter is the highest priority waiter of @lock,
+		 * or allowed to steal it, take it over.
 		 */
-		if (waiter != rt_mutex_top_waiter(lock))
+		if (waiter == top_waiter || rt_mutex_steal(waiter, top_waiter)) {
+			/*
+			 * We can acquire the lock. Remove the waiter from the
+			 * lock waiters tree.
+			 */
+			rt_mutex_dequeue(lock, waiter);
+		} else {
 			return 0;
-
-		/*
-		 * We can acquire the lock. Remove the waiter from the
-		 * lock waiters tree.
-		 */
-		rt_mutex_dequeue(lock, waiter);
-
+		}
 	} else {
 		/*
 		 * If the lock has waiters already we check whether @task is
@@ -955,13 +977,9 @@ try_to_take_rt_mutex(struct rt_mutex_base *lock, struct task_struct *task,
 		 * not need to be dequeued.
 		 */
 		if (rt_mutex_has_waiters(lock)) {
-			/*
-			 * If @task->prio is greater than or equal to
-			 * the top waiter priority (kernel view),
-			 * @task lost.
-			 */
-			if (!rt_mutex_waiter_less(task_to_waiter(task),
-						  rt_mutex_top_waiter(lock)))
+			/* Check whether the trylock can steal it. */
+			if (!rt_mutex_steal(task_to_waiter(task),
+					    rt_mutex_top_waiter(lock)))
 				return 0;
 
 			/*