diff --git a/embedded-hal/CHANGELOG.md b/embedded-hal/CHANGELOG.md
index 7dfdd866c..9d3ac625b 100644
--- a/embedded-hal/CHANGELOG.md
+++ b/embedded-hal/CHANGELOG.md
@@ -7,7 +7,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
-No unreleased changes yet
+- gpio: remove `ToggleableOutputPin`, move `toggle()` to `StatefulOutputPin`.
 
 ## [v1.0.0-rc.3] - 2023-12-14
 
diff --git a/embedded-hal/src/digital.rs b/embedded-hal/src/digital.rs
index f65fc0bfd..afcf03963 100644
--- a/embedded-hal/src/digital.rs
+++ b/embedded-hal/src/digital.rs
@@ -175,6 +175,12 @@ pub trait StatefulOutputPin: OutputPin {
     ///
     /// *NOTE* this does *not* read the electrical state of the pin.
     fn is_set_low(&mut self) -> Result<bool, Self::Error>;
+
+    /// Toggle pin output.
+    fn toggle(&mut self) -> Result<(), Self::Error> {
+        let was_low: bool = self.is_set_low()?;
+        self.set_state(PinState::from(was_low))
+    }
 }
 
 impl<T: StatefulOutputPin + ?Sized> StatefulOutputPin for &mut T {
@@ -187,15 +193,7 @@ impl<T: StatefulOutputPin + ?Sized> StatefulOutputPin for &mut T {
     fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         T::is_set_low(self)
     }
-}
-
-/// Output pin that can be toggled.
-pub trait ToggleableOutputPin: ErrorType {
-    /// Toggle pin output.
-    fn toggle(&mut self) -> Result<(), Self::Error>;
-}
 
-impl<T: ToggleableOutputPin + ?Sized> ToggleableOutputPin for &mut T {
     #[inline]
     fn toggle(&mut self) -> Result<(), Self::Error> {
         T::toggle(self)