diff --git a/roles/k3s/defaults/main.yml b/roles/k3s/defaults/main.yml
index 8271af80..9ab4e955 100644
--- a/roles/k3s/defaults/main.yml
+++ b/roles/k3s/defaults/main.yml
@@ -5,6 +5,7 @@ k3s_server_location: /var/lib/rancher/k3s
 k3s_conf_location: /etc/rancher/k3s
 k3s_systemd_dir: /etc/systemd/system
 k3s_server_ip: "{{ kolla_external_vip_address }}"
+k3s_worker_taint: "{{ worker_taint }}"
 k3s_extra_server_args: ""
 
 k3s_dry_run: no
diff --git a/roles/k3s/tasks/config-device-plugins.yml b/roles/k3s/tasks/config-device-plugins.yml
index 967ab234..285574c4 100644
--- a/roles/k3s/tasks/config-device-plugins.yml
+++ b/roles/k3s/tasks/config-device-plugins.yml
@@ -7,6 +7,7 @@
   kubernetes.core.k8s:
     state: present
     src: nvidia-device-plugin.yaml
+    template: "nvidia-device-plugin.yaml.j2"
     apply: yes
   when:
     - not (k3s_dry_run | bool)
diff --git a/roles/k3s/templates/nvidia-device-plugin.yaml.j2 b/roles/k3s/templates/nvidia-device-plugin.yaml.j2
new file mode 100644
index 00000000..ce5b6b87
--- /dev/null
+++ b/roles/k3s/templates/nvidia-device-plugin.yaml.j2
@@ -0,0 +1,74 @@
+# Copyright (c) 2019, NVIDIA CORPORATION.  All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+apiVersion: apps/v1
+kind: DaemonSet
+metadata:
+  name: nvidia-device-plugin-daemonset
+  namespace: kube-system
+spec:
+  selector:
+    matchLabels:
+      name: nvidia-device-plugin-ds
+  updateStrategy:
+    type: RollingUpdate
+  template:
+    metadata:
+      # This annotation is deprecated. Kept here for backward compatibility
+      # See https://kubernetes.io/docs/tasks/administer-cluster/guaranteed-scheduling-critical-addon-pods/
+      annotations:
+        scheduler.alpha.kubernetes.io/critical-pod: ""
+      labels:
+        name: nvidia-device-plugin-ds
+    spec:
+      nodeSelector:
+        "nvidia-device-plugin/enabled": "true"
+      tolerations:
+        # This toleration is deprecated. Kept here for backward compatibility
+        # See https://kubernetes.io/docs/tasks/administer-cluster/guaranteed-scheduling-critical-addon-pods/
+        - key: CriticalAddonsOnly
+          operator: Exists
+        - key: nvidia.com/gpu
+          operator: Exists
+          effect: NoSchedule
+        - key: "{{ k3s_worker_taint.key }}"
+          operator: "Equal"
+          value: "{{ k3s_worker_taint.value }}"
+          effect: "{{ k3s_worker_taint.effect }}"
+      # Mark this pod as a critical add-on; when enabled, the critical add-on
+      # scheduler reserves resources for critical add-on pods so that they can
+      # be rescheduled after a failure.
+      # See https://kubernetes.io/docs/tasks/administer-cluster/guaranteed-scheduling-critical-addon-pods/
+      priorityClassName: "system-node-critical"
+      containers:
+        - image: nvcr.io/nvidia/k8s-device-plugin:v0.14.1
+          name: nvidia-device-plugin-ctr
+          env:
+            - name: FAIL_ON_INIT_ERROR
+              value: "false"
+            - name: NVIDIA_VISIBLE_DEVICES
+              value: all
+            - name: NVIDIA_DRIVER_CAPABILITIES
+              value: all
+          securityContext:
+            allowPrivilegeEscalation: false
+            capabilities:
+              drop: ["ALL"]
+          volumeMounts:
+            - name: device-plugin
+              mountPath: /var/lib/kubelet/device-plugins
+      volumes:
+        - name: device-plugin
+          hostPath:
+            path: /var/lib/kubelet/device-plugins
diff --git a/roles/k3s/templates/smarter-device-manager-ds-jetson.yaml.j2 b/roles/k3s/templates/smarter-device-manager-ds-jetson.yaml.j2
index 878fb883..905d6926 100644
--- a/roles/k3s/templates/smarter-device-manager-ds-jetson.yaml.j2
+++ b/roles/k3s/templates/smarter-device-manager-ds-jetson.yaml.j2
@@ -69,6 +69,11 @@ spec:
       nodeSelector:
         smarter-device-manager: enabled
         smarter-device-manager/configmap: jetson
+      tolerations:
+        - key: "{{ k3s_worker_taint.key }}"
+        operator: "Equal"
+        value: "{{ k3s_worker_taint.value }}"
+        effect: "{{ k3s_worker_taint.effect }}"
       priorityClassName: "system-node-critical"
       hostname: smarter-device-management
       hostNetwork: true
diff --git a/roles/k3s/templates/smarter-device-manager-ds-rpi.yaml.j2 b/roles/k3s/templates/smarter-device-manager-ds-rpi.yaml.j2
index f90551ef..ac6aa125 100644
--- a/roles/k3s/templates/smarter-device-manager-ds-rpi.yaml.j2
+++ b/roles/k3s/templates/smarter-device-manager-ds-rpi.yaml.j2
@@ -67,6 +67,11 @@ spec:
       nodeSelector:
         smarter-device-manager: enabled
         smarter-device-manager/configmap: rpi
+      tolerations:
+        - key: "{{ k3s_worker_taint.key }}"
+        operator: "Equal"
+        value: "{{ k3s_worker_taint.value }}"
+        effect: "{{ k3s_worker_taint.effect }}"
       priorityClassName: "system-node-critical"
       hostname: smarter-device-management
       hostNetwork: true