diff --git a/docs/data/date-pickers/base-concepts/base-concepts.md b/docs/data/date-pickers/base-concepts/base-concepts.md
index e6953b53c0b1..a6d3a6426c29 100644
--- a/docs/data/date-pickers/base-concepts/base-concepts.md
+++ b/docs/data/date-pickers/base-concepts/base-concepts.md
@@ -83,6 +83,19 @@ There are many components available, each fitting specific use cases. Use the fo
 
 {{"demo": "ComponentExplorerNoSnap.js", "hideToolbar": true}}
 
+## Accessibility
+
+Both `Desktop` and `Mobile` Date and Time Pickers are using `role="dialog"` to display their interactive view parts and thus they should follow [Modal accessibility guidelines](/material-ui/react-modal/#accessibility).
+This behavior is automated as much as possible, ensuring that the Date and Time Pickers are accessible in most cases.
+A correct `aria-labelledby` value is assigned to the dialog component based on the following rules:
+
+- Use `toolbar` id if the toolbar is visible;
+- Use the id of the input label if the toolbar is hidden;
+
+:::info
+Make sure to provide an `aria-labelledby` prop to `popper` and/or `mobilePaper` `slotProps` in case you are using Date and Time Pickers component with **hidden toolbar** and **without a label**.
+:::
+
 ## TypeScript
 
 In order to benefit from the [CSS overrides](/material-ui/customization/theme-components/#global-style-overrides) and [default prop customization](/material-ui/customization/theme-components/#default-props) with the theme, TypeScript users need to import the following types.
diff --git a/packages/x-date-pickers-pro/src/DateRangePicker/DateRangePickerToolbar.tsx b/packages/x-date-pickers-pro/src/DateRangePicker/DateRangePickerToolbar.tsx
index 5eaf7fe26657..29b1a376046b 100644
--- a/packages/x-date-pickers-pro/src/DateRangePicker/DateRangePickerToolbar.tsx
+++ b/packages/x-date-pickers-pro/src/DateRangePicker/DateRangePickerToolbar.tsx
@@ -136,6 +136,7 @@ DateRangePickerToolbar.propTypes = {
   onRangePositionChange: PropTypes.func.isRequired,
   rangePosition: PropTypes.oneOf(['end', 'start']).isRequired,
   readOnly: PropTypes.bool,
+  titleId: PropTypes.string,
   /**
    * Toolbar date format.
    */
diff --git a/packages/x-date-pickers-pro/src/internal/hooks/useMobileRangePicker/useMobileRangePicker.tsx b/packages/x-date-pickers-pro/src/internal/hooks/useMobileRangePicker/useMobileRangePicker.tsx
index 164ed8e8f0a1..fa9ba5016be2 100644
--- a/packages/x-date-pickers-pro/src/internal/hooks/useMobileRangePicker/useMobileRangePicker.tsx
+++ b/packages/x-date-pickers-pro/src/internal/hooks/useMobileRangePicker/useMobileRangePicker.tsx
@@ -13,7 +13,9 @@ import {
   PickersModalDialog,
   InferError,
   ExportedBaseToolbarProps,
+  useLocaleText,
 } from '@mui/x-date-pickers/internals';
+import useId from '@mui/utils/useId';
 import {
   MobileRangePickerAdditionalViewProps,
   UseMobileRangePickerParams,
@@ -39,7 +41,7 @@ export const useMobileRangePicker = <
 
   const {
     slots,
-    slotProps,
+    slotProps: innerSlotProps,
     className,
     sx,
     format,
@@ -50,6 +52,8 @@ export const useMobileRangePicker = <
   } = props;
 
   const [rangePosition, setRangePosition] = React.useState<RangePosition>('start');
+  const labelId = useId();
+  const contextLocaleText = useLocaleText();
 
   const {
     open,
@@ -93,7 +97,7 @@ export const useMobileRangePicker = <
     InferError<TExternalProps>
   > = useSlotProps({
     elementType: Field,
-    externalSlotProps: slotProps?.field,
+    externalSlotProps: innerSlotProps?.field,
     additionalProps: {
       ...pickerFieldProps,
       readOnly: readOnly ?? true,
@@ -110,10 +114,12 @@ export const useMobileRangePicker = <
     ...fieldProps.slots,
   };
 
+  const isToolbarHidden = innerSlotProps?.toolbar?.hidden ?? false;
+
   const slotPropsForField: BaseMultiInputFieldProps<DateRange<TDate>, unknown>['slotProps'] = {
     ...fieldProps.slotProps,
     textField: (ownerState) => {
-      const externalInputProps = resolveComponentProps(slotProps?.textField, ownerState);
+      const externalInputProps = resolveComponentProps(innerSlotProps?.textField, ownerState);
       const inputPropsPassedByField = resolveComponentProps(
         fieldProps.slotProps?.textField,
         ownerState,
@@ -122,6 +128,7 @@ export const useMobileRangePicker = <
         ownerState.position === 'start' ? fieldSlotProps.startInput : fieldSlotProps.endInput;
 
       return {
+        ...(isToolbarHidden && { id: `${labelId}-${ownerState.position}` }),
         ...externalInputProps,
         ...inputPropsPassedByField,
         ...inputPropsPassedByPicker,
@@ -132,7 +139,7 @@ export const useMobileRangePicker = <
       };
     },
     root: (ownerState) => {
-      const externalRootProps = resolveComponentProps(slotProps?.fieldRoot, ownerState);
+      const externalRootProps = resolveComponentProps(innerSlotProps?.fieldRoot, ownerState);
       const rootPropsPassedByField = resolveComponentProps(fieldProps.slotProps?.root, ownerState);
       return {
         ...externalRootProps,
@@ -141,7 +148,10 @@ export const useMobileRangePicker = <
       };
     },
     separator: (ownerState) => {
-      const externalSeparatorProps = resolveComponentProps(slotProps?.fieldSeparator, ownerState);
+      const externalSeparatorProps = resolveComponentProps(
+        innerSlotProps?.fieldSeparator,
+        ownerState,
+      );
       const separatorPropsPassedByField = resolveComponentProps(
         fieldProps.slotProps?.separator,
         ownerState,
@@ -155,9 +165,10 @@ export const useMobileRangePicker = <
   };
 
   const slotPropsForLayout: PickersLayoutSlotsComponentsProps<DateRange<TDate>, TDate, TView> = {
-    ...slotProps,
+    ...innerSlotProps,
     toolbar: {
-      ...slotProps?.toolbar,
+      ...innerSlotProps?.toolbar,
+      titleId: labelId,
       rangePosition,
       onRangePositionChange: setRangePosition,
     } as ExportedBaseToolbarProps,
@@ -165,6 +176,29 @@ export const useMobileRangePicker = <
 
   const Layout = slots?.layout ?? PickersLayout;
 
+  const finalLocaleText = {
+    ...contextLocaleText,
+    ...localeText,
+  };
+  let labelledById = labelId;
+  if (isToolbarHidden) {
+    const labels: string[] = [];
+    if (finalLocaleText.start) {
+      labels.push(`${labelId}-start-label`);
+    }
+    if (finalLocaleText.end) {
+      labels.push(`${labelId}-end-label`);
+    }
+    labelledById = labels.length > 0 ? labels.join(' ') : undefined;
+  }
+  const slotProps = {
+    ...innerSlotProps,
+    mobilePaper: {
+      'aria-labelledby': labelledById,
+      ...innerSlotProps?.mobilePaper,
+    },
+  };
+
   const renderPicker = () => (
     <LocalizationProvider localeText={localeText}>
       <WrapperVariantContext.Provider value="mobile">
diff --git a/packages/x-date-pickers/src/DatePicker/DatePickerToolbar.tsx b/packages/x-date-pickers/src/DatePicker/DatePickerToolbar.tsx
index e83e247776b4..1124ece12ee3 100644
--- a/packages/x-date-pickers/src/DatePicker/DatePickerToolbar.tsx
+++ b/packages/x-date-pickers/src/DatePicker/DatePickerToolbar.tsx
@@ -149,6 +149,7 @@ DatePickerToolbar.propTypes = {
     PropTypes.func,
     PropTypes.object,
   ]),
+  titleId: PropTypes.string,
   /**
    * Toolbar date format.
    */
diff --git a/packages/x-date-pickers/src/DateTimePicker/DateTimePickerToolbar.tsx b/packages/x-date-pickers/src/DateTimePicker/DateTimePickerToolbar.tsx
index f474ac495e40..9ff7a98920d2 100644
--- a/packages/x-date-pickers/src/DateTimePicker/DateTimePickerToolbar.tsx
+++ b/packages/x-date-pickers/src/DateTimePicker/DateTimePickerToolbar.tsx
@@ -269,6 +269,7 @@ DateTimePickerToolbar.propTypes = {
    */
   onViewChange: PropTypes.func.isRequired,
   readOnly: PropTypes.bool,
+  titleId: PropTypes.string,
   /**
    * Toolbar date format.
    */
diff --git a/packages/x-date-pickers/src/DesktopDatePicker/DesktopDatePicker.types.ts b/packages/x-date-pickers/src/DesktopDatePicker/DesktopDatePicker.types.ts
index fcc514c260d2..4053b4a534c7 100644
--- a/packages/x-date-pickers/src/DesktopDatePicker/DesktopDatePicker.types.ts
+++ b/packages/x-date-pickers/src/DesktopDatePicker/DesktopDatePicker.types.ts
@@ -1,6 +1,6 @@
 import {
   UseDesktopPickerSlotsComponent,
-  UseDesktopPickerSlotsComponentsProps,
+  ExportedUseDesktopPickerSlotsComponentsProps,
   DesktopOnlyPickerProps,
 } from '../internals/hooks/useDesktopPicker';
 import {
@@ -18,7 +18,7 @@ export interface DesktopDatePickerSlotsComponent<TDate>
 
 export interface DesktopDatePickerSlotsComponentsProps<TDate>
   extends BaseDatePickerSlotsComponentsProps<TDate>,
-    UseDesktopPickerSlotsComponentsProps<TDate, DateView> {}
+    ExportedUseDesktopPickerSlotsComponentsProps<TDate, DateView> {}
 
 export interface DesktopDatePickerProps<TDate>
   extends BaseDatePickerProps<TDate>,
diff --git a/packages/x-date-pickers/src/DesktopDateTimePicker/DesktopDateTimePicker.types.ts b/packages/x-date-pickers/src/DesktopDateTimePicker/DesktopDateTimePicker.types.ts
index 96f02ccfa87d..1cffb060f123 100644
--- a/packages/x-date-pickers/src/DesktopDateTimePicker/DesktopDateTimePicker.types.ts
+++ b/packages/x-date-pickers/src/DesktopDateTimePicker/DesktopDateTimePicker.types.ts
@@ -1,6 +1,6 @@
 import {
   UseDesktopPickerSlotsComponent,
-  UseDesktopPickerSlotsComponentsProps,
+  ExportedUseDesktopPickerSlotsComponentsProps,
   DesktopOnlyPickerProps,
 } from '../internals/hooks/useDesktopPicker';
 import {
@@ -21,7 +21,7 @@ export interface DesktopDateTimePickerSlotsComponent<TDate>
 
 export interface DesktopDateTimePickerSlotsComponentsProps<TDate>
   extends BaseDateTimePickerSlotsComponentsProps<TDate>,
-    UseDesktopPickerSlotsComponentsProps<TDate, DateOrTimeView> {}
+    ExportedUseDesktopPickerSlotsComponentsProps<TDate, DateOrTimeView> {}
 
 export interface DesktopDateTimePickerProps<TDate>
   extends BaseDateTimePickerProps<TDate>,
diff --git a/packages/x-date-pickers/src/DesktopTimePicker/DesktopTimePicker.types.ts b/packages/x-date-pickers/src/DesktopTimePicker/DesktopTimePicker.types.ts
index 0993ecd3024e..380a670d6258 100644
--- a/packages/x-date-pickers/src/DesktopTimePicker/DesktopTimePicker.types.ts
+++ b/packages/x-date-pickers/src/DesktopTimePicker/DesktopTimePicker.types.ts
@@ -1,6 +1,6 @@
 import {
   UseDesktopPickerSlotsComponent,
-  UseDesktopPickerSlotsComponentsProps,
+  ExportedUseDesktopPickerSlotsComponentsProps,
   DesktopOnlyPickerProps,
 } from '../internals/hooks/useDesktopPicker';
 import {
@@ -18,7 +18,7 @@ export interface DesktopTimePickerSlotsComponent<TDate>
 
 export interface DesktopTimePickerSlotsComponentsProps<TDate>
   extends BaseTimePickerSlotsComponentsProps,
-    UseDesktopPickerSlotsComponentsProps<TDate, TimeView> {}
+    ExportedUseDesktopPickerSlotsComponentsProps<TDate, TimeView> {}
 
 export interface DesktopTimePickerProps<TDate>
   extends BaseTimePickerProps<TDate>,
diff --git a/packages/x-date-pickers/src/MobileDatePicker/MobileDatePicker.types.ts b/packages/x-date-pickers/src/MobileDatePicker/MobileDatePicker.types.ts
index fb23cee98951..bbc3553b2cee 100644
--- a/packages/x-date-pickers/src/MobileDatePicker/MobileDatePicker.types.ts
+++ b/packages/x-date-pickers/src/MobileDatePicker/MobileDatePicker.types.ts
@@ -1,7 +1,7 @@
 import {
   UseMobilePickerSlotsComponent,
-  UseMobilePickerSlotsComponentsProps,
   MobileOnlyPickerProps,
+  ExportedUseMobilePickerSlotsComponentsProps,
 } from '../internals/hooks/useMobilePicker';
 import {
   BaseDatePickerProps,
@@ -18,7 +18,7 @@ export interface MobileDatePickerSlotsComponent<TDate>
 
 export interface MobileDatePickerSlotsComponentsProps<TDate>
   extends BaseDatePickerSlotsComponentsProps<TDate>,
-    UseMobilePickerSlotsComponentsProps<TDate, DateView> {}
+    ExportedUseMobilePickerSlotsComponentsProps<TDate, DateView> {}
 
 export interface MobileDatePickerProps<TDate>
   extends BaseDatePickerProps<TDate>,
diff --git a/packages/x-date-pickers/src/MobileDateTimePicker/MobileDateTimePicker.types.ts b/packages/x-date-pickers/src/MobileDateTimePicker/MobileDateTimePicker.types.ts
index 76308ee00727..0fdb8d949118 100644
--- a/packages/x-date-pickers/src/MobileDateTimePicker/MobileDateTimePicker.types.ts
+++ b/packages/x-date-pickers/src/MobileDateTimePicker/MobileDateTimePicker.types.ts
@@ -1,6 +1,6 @@
 import {
   UseMobilePickerSlotsComponent,
-  UseMobilePickerSlotsComponentsProps,
+  ExportedUseMobilePickerSlotsComponentsProps,
   MobileOnlyPickerProps,
 } from '../internals/hooks/useMobilePicker';
 import {
@@ -18,7 +18,7 @@ export interface MobileDateTimePickerSlotsComponent<TDate>
 
 export interface MobileDateTimePickerSlotsComponentsProps<TDate>
   extends BaseDateTimePickerSlotsComponentsProps<TDate>,
-    UseMobilePickerSlotsComponentsProps<TDate, DateOrTimeView> {}
+    ExportedUseMobilePickerSlotsComponentsProps<TDate, DateOrTimeView> {}
 
 export interface MobileDateTimePickerProps<TDate>
   extends BaseDateTimePickerProps<TDate>,
diff --git a/packages/x-date-pickers/src/MobileTimePicker/MobileTimePicker.types.ts b/packages/x-date-pickers/src/MobileTimePicker/MobileTimePicker.types.ts
index a36c8d0f1640..d1d0f1e69d25 100644
--- a/packages/x-date-pickers/src/MobileTimePicker/MobileTimePicker.types.ts
+++ b/packages/x-date-pickers/src/MobileTimePicker/MobileTimePicker.types.ts
@@ -1,6 +1,6 @@
 import {
   UseMobilePickerSlotsComponent,
-  UseMobilePickerSlotsComponentsProps,
+  ExportedUseMobilePickerSlotsComponentsProps,
   MobileOnlyPickerProps,
 } from '../internals/hooks/useMobilePicker';
 import {
@@ -18,7 +18,7 @@ export interface MobileTimePickerSlotsComponent<TDate>
 
 export interface MobileTimePickerSlotsComponentsProps<TDate>
   extends BaseTimePickerSlotsComponentsProps,
-    UseMobilePickerSlotsComponentsProps<TDate, TimeView> {}
+    ExportedUseMobilePickerSlotsComponentsProps<TDate, TimeView> {}
 
 export interface MobileTimePickerProps<TDate>
   extends BaseTimePickerProps<TDate>,
diff --git a/packages/x-date-pickers/src/TimePicker/TimePickerToolbar.tsx b/packages/x-date-pickers/src/TimePicker/TimePickerToolbar.tsx
index 5ee3bee58c0d..cc0bd553ec7b 100644
--- a/packages/x-date-pickers/src/TimePicker/TimePickerToolbar.tsx
+++ b/packages/x-date-pickers/src/TimePicker/TimePickerToolbar.tsx
@@ -283,6 +283,7 @@ TimePickerToolbar.propTypes = {
    */
   onViewChange: PropTypes.func.isRequired,
   readOnly: PropTypes.bool,
+  titleId: PropTypes.string,
   /**
    * Toolbar date format.
    */
diff --git a/packages/x-date-pickers/src/internals/components/PickersToolbar.tsx b/packages/x-date-pickers/src/internals/components/PickersToolbar.tsx
index c74140801808..16120d392215 100644
--- a/packages/x-date-pickers/src/internals/components/PickersToolbar.tsx
+++ b/packages/x-date-pickers/src/internals/components/PickersToolbar.tsx
@@ -9,7 +9,7 @@ import { getPickersToolbarUtilityClass, PickersToolbarClasses } from './pickersT
 import { DateOrTimeView } from '../models/views';
 
 export interface PickersToolbarProps<TValue, TView extends DateOrTimeView>
-  extends Pick<BaseToolbarProps<TValue, TView>, 'isLandscape' | 'hidden'> {
+  extends Pick<BaseToolbarProps<TValue, TView>, 'isLandscape' | 'hidden' | 'titleId'> {
   className?: string;
   landscapeDirection?: 'row' | 'column';
   toolbarTitle: React.ReactNode;
@@ -81,6 +81,7 @@ export const PickersToolbar = React.forwardRef(function PickersToolbar<
     landscapeDirection = 'column',
     toolbarTitle,
     hidden,
+    titleId,
   } = props;
 
   const ownerState = props;
@@ -97,7 +98,12 @@ export const PickersToolbar = React.forwardRef(function PickersToolbar<
       className={clsx(classes.root, className)}
       ownerState={ownerState}
     >
-      <Typography data-mui-test="picker-toolbar-title" color="text.secondary" variant="overline">
+      <Typography
+        data-mui-test="picker-toolbar-title"
+        color="text.secondary"
+        variant="overline"
+        id={titleId}
+      >
         {toolbarTitle}
       </Typography>
       <PickersToolbarContent
diff --git a/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/index.ts b/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/index.ts
index 2d7ec95c5350..b7d3c5fd8fbc 100644
--- a/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/index.ts
+++ b/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/index.ts
@@ -2,5 +2,6 @@ export { useDesktopPicker } from './useDesktopPicker';
 export type {
   UseDesktopPickerSlotsComponent,
   UseDesktopPickerSlotsComponentsProps,
+  ExportedUseDesktopPickerSlotsComponentsProps,
   DesktopOnlyPickerProps,
 } from './useDesktopPicker.types';
diff --git a/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.tsx b/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.tsx
index 2cf4361cb463..5212fc460756 100644
--- a/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.tsx
+++ b/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.tsx
@@ -3,6 +3,7 @@ import { resolveComponentProps, useSlotProps } from '@mui/base/utils';
 import MuiInputAdornment from '@mui/material/InputAdornment';
 import IconButton from '@mui/material/IconButton';
 import useForkRef from '@mui/utils/useForkRef';
+import useId from '@mui/utils/useId';
 import { PickersPopper } from '../../components/PickersPopper';
 import { DateOrTimeView } from '../../models/views';
 import { UseDesktopPickerParams, UseDesktopPickerProps } from './useDesktopPicker.types';
@@ -32,7 +33,7 @@ export const useDesktopPicker = <
 }: UseDesktopPickerParams<TDate, TView, TExternalProps>) => {
   const {
     slots,
-    slotProps,
+    slotProps: innerSlotProps,
     className,
     sx,
     format,
@@ -46,6 +47,7 @@ export const useDesktopPicker = <
 
   const utils = useUtils<TDate>();
   const internalInputRef = React.useRef<HTMLInputElement>(null);
+  const labelId = useId();
 
   const {
     open,
@@ -68,7 +70,7 @@ export const useDesktopPicker = <
   const Field = slots.field;
   const fieldProps: BaseFieldProps<TDate | null, InferError<TExternalProps>> = useSlotProps({
     elementType: Field,
-    externalSlotProps: slotProps?.field,
+    externalSlotProps: innerSlotProps?.field,
     additionalProps: {
       ...pickerFieldProps,
       readOnly,
@@ -85,7 +87,7 @@ export const useDesktopPicker = <
   const InputAdornment = slots.inputAdornment ?? MuiInputAdornment;
   const inputAdornmentProps = useSlotProps({
     elementType: InputAdornment,
-    externalSlotProps: slotProps?.inputAdornment,
+    externalSlotProps: innerSlotProps?.inputAdornment,
     additionalProps: {
       position: 'end' as const,
     },
@@ -95,7 +97,7 @@ export const useDesktopPicker = <
   const OpenPickerButton = slots.openPickerButton ?? IconButton;
   const { ownerState: openPickerButtonOwnerState, ...openPickerButtonProps } = useSlotProps({
     elementType: OpenPickerButton,
-    externalSlotProps: slotProps?.openPickerButton,
+    externalSlotProps: innerSlotProps?.openPickerButton,
     additionalProps: {
       disabled: disabled || readOnly,
       onClick: actions.onOpen,
@@ -112,23 +114,26 @@ export const useDesktopPicker = <
     ...fieldProps.slots,
   };
 
+  const isToolbarHidden = innerSlotProps?.toolbar?.hidden ?? false;
+
   const slotPropsForField: BaseFieldProps<TDate | null, unknown>['slotProps'] = {
     ...fieldProps.slotProps,
     textField: (ownerState) => {
-      const externalInputProps = resolveComponentProps(slotProps?.textField, ownerState);
+      const externalInputProps = resolveComponentProps(innerSlotProps?.textField, ownerState);
       const inputPropsPassedByField = resolveComponentProps(
         fieldProps.slotProps?.textField,
         ownerState,
       );
 
       return {
+        ...(isToolbarHidden && { id: labelId }),
         ...inputPropsPassedByField,
         ...externalInputProps,
         InputProps: {
           [`${inputAdornmentProps.position}Adornment`]: hasUIView ? (
             <InputAdornment {...inputAdornmentProps}>
               <OpenPickerButton {...openPickerButtonProps}>
-                <OpenPickerIcon {...slotProps?.openPickerIcon} />
+                <OpenPickerIcon {...innerSlotProps?.openPickerIcon} />
               </OpenPickerButton>
             </InputAdornment>
           ) : undefined,
@@ -143,6 +148,26 @@ export const useDesktopPicker = <
 
   const handleInputRef = useForkRef(internalInputRef, fieldProps.inputRef, inputRef);
 
+  let labelledById = labelId;
+  if (isToolbarHidden) {
+    if (label) {
+      labelledById = `${labelId}-label`;
+    } else {
+      labelledById = undefined;
+    }
+  }
+  const slotProps = {
+    ...innerSlotProps,
+    toolbar: {
+      ...innerSlotProps?.toolbar,
+      titleId: labelId,
+    },
+    popper: {
+      'aria-labelledby': labelledById,
+      ...innerSlotProps?.popper,
+    },
+  };
+
   const renderPicker = () => (
     <LocalizationProvider localeText={localeText}>
       <WrapperVariantContext.Provider value="desktop">
diff --git a/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.types.ts b/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.types.ts
index 2ff419b22a7b..21bdc52ee565 100644
--- a/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.types.ts
+++ b/packages/x-date-pickers/src/internals/hooks/useDesktopPicker/useDesktopPicker.types.ts
@@ -18,6 +18,7 @@ import { BaseFieldProps } from '../../models/fields';
 import {
   ExportedPickersLayoutSlotsComponent,
   ExportedPickersLayoutSlotsComponentsProps,
+  PickersLayoutSlotsComponentsProps,
 } from '../../../PickersLayout/PickersLayout.types';
 import { UsePickerValueNonStaticProps } from '../usePicker/usePickerValue';
 import { UsePickerViewsNonStaticProps, UsePickerViewsProps } from '../usePicker/usePickerViews';
@@ -56,6 +57,10 @@ export interface UseDesktopPickerSlotsComponent<TDate, TView extends DateOrTimeV
 }
 
 export interface UseDesktopPickerSlotsComponentsProps<TDate, TView extends DateOrTimeView>
+  extends ExportedUseDesktopPickerSlotsComponentsProps<TDate, TView>,
+    Pick<PickersLayoutSlotsComponentsProps<TDate | null, TDate, TView>, 'toolbar'> {}
+
+export interface ExportedUseDesktopPickerSlotsComponentsProps<TDate, TView extends DateOrTimeView>
   extends PickersPopperSlotsComponentsProps,
     ExportedPickersLayoutSlotsComponentsProps<TDate | null, TDate, TView> {
   field?: SlotComponentProps<
diff --git a/packages/x-date-pickers/src/internals/hooks/useMobilePicker/index.ts b/packages/x-date-pickers/src/internals/hooks/useMobilePicker/index.ts
index f38c04003728..761b84a6dfd6 100644
--- a/packages/x-date-pickers/src/internals/hooks/useMobilePicker/index.ts
+++ b/packages/x-date-pickers/src/internals/hooks/useMobilePicker/index.ts
@@ -2,5 +2,6 @@ export { useMobilePicker } from './useMobilePicker';
 export type {
   UseMobilePickerSlotsComponent,
   UseMobilePickerSlotsComponentsProps,
+  ExportedUseMobilePickerSlotsComponentsProps,
   MobileOnlyPickerProps,
 } from './useMobilePicker.types';
diff --git a/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.tsx b/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.tsx
index ef46515c8893..b18fbfdbc533 100644
--- a/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.tsx
+++ b/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.tsx
@@ -1,6 +1,7 @@
 import * as React from 'react';
 import { resolveComponentProps, useSlotProps } from '@mui/base/utils';
 import useForkRef from '@mui/utils/useForkRef';
+import useId from '@mui/utils/useId';
 import { PickersModalDialog } from '../../components/PickersModalDialog';
 import { DateOrTimeView } from '../../models';
 import { UseMobilePickerParams, UseMobilePickerProps } from './useMobilePicker.types';
@@ -31,7 +32,7 @@ export const useMobilePicker = <
 }: UseMobilePickerParams<TDate, TView, TExternalProps>) => {
   const {
     slots,
-    slotProps,
+    slotProps: innerSlotProps,
     className,
     sx,
     format,
@@ -44,6 +45,7 @@ export const useMobilePicker = <
 
   const utils = useUtils<TDate>();
   const internalInputRef = React.useRef<HTMLInputElement>(null);
+  const labelId = useId();
 
   const {
     open,
@@ -64,7 +66,7 @@ export const useMobilePicker = <
   const Field = slots.field;
   const fieldProps: BaseFieldProps<TDate | null, InferError<TExternalProps>> = useSlotProps({
     elementType: Field,
-    externalSlotProps: slotProps?.field,
+    externalSlotProps: innerSlotProps?.field,
     additionalProps: {
       ...pickerFieldProps,
       readOnly: readOnly ?? true,
@@ -82,16 +84,19 @@ export const useMobilePicker = <
     ...fieldProps.slots,
   };
 
+  const isToolbarHidden = innerSlotProps?.toolbar?.hidden ?? false;
+
   const slotPropsForField: BaseFieldProps<TDate, unknown>['slotProps'] = {
     ...fieldProps.slotProps,
     textField: (ownerState) => {
-      const externalInputProps = resolveComponentProps(slotProps?.textField, ownerState);
+      const externalInputProps = resolveComponentProps(innerSlotProps?.textField, ownerState);
       const inputPropsPassedByField = resolveComponentProps(
         fieldProps.slotProps?.textField,
         ownerState,
       );
 
       return {
+        ...(isToolbarHidden && { id: labelId }),
         ...inputPropsPassedByField,
         ...externalInputProps,
         disabled,
@@ -112,6 +117,26 @@ export const useMobilePicker = <
 
   const handleInputRef = useForkRef(internalInputRef, fieldProps.inputRef, inputRef);
 
+  let labelledById = labelId;
+  if (isToolbarHidden) {
+    if (label) {
+      labelledById = `${labelId}-label`;
+    } else {
+      labelledById = undefined;
+    }
+  }
+  const slotProps = {
+    ...innerSlotProps,
+    toolbar: {
+      ...innerSlotProps?.toolbar,
+      titleId: labelId,
+    },
+    mobilePaper: {
+      'aria-labelledby': labelledById,
+      ...innerSlotProps?.mobilePaper,
+    },
+  };
+
   const renderPicker = () => (
     <LocalizationProvider localeText={localeText}>
       <WrapperVariantContext.Provider value="mobile">
diff --git a/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.types.ts b/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.types.ts
index 4b7b9e476f95..d27a2b0cc276 100644
--- a/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.types.ts
+++ b/packages/x-date-pickers/src/internals/hooks/useMobilePicker/useMobilePicker.types.ts
@@ -16,6 +16,7 @@ import { BaseFieldProps } from '../../models/fields';
 import {
   ExportedPickersLayoutSlotsComponent,
   ExportedPickersLayoutSlotsComponentsProps,
+  PickersLayoutSlotsComponentsProps,
 } from '../../../PickersLayout/PickersLayout.types';
 import { UsePickerValueNonStaticProps } from '../usePicker/usePickerValue';
 import { UsePickerViewsNonStaticProps, UsePickerViewsProps } from '../usePicker/usePickerViews';
@@ -36,7 +37,7 @@ export interface UseMobilePickerSlotsComponent<TDate, TView extends DateOrTimeVi
   TextField?: React.ElementType<TextFieldProps>;
 }
 
-export interface UseMobilePickerSlotsComponentsProps<TDate, TView extends DateOrTimeView>
+export interface ExportedUseMobilePickerSlotsComponentsProps<TDate, TView extends DateOrTimeView>
   extends PickersModalDialogSlotsComponentsProps,
     ExportedPickersLayoutSlotsComponentsProps<TDate | null, TDate, TView> {
   field?: SlotComponentProps<
@@ -47,6 +48,10 @@ export interface UseMobilePickerSlotsComponentsProps<TDate, TView extends DateOr
   textField?: SlotComponentProps<typeof TextField, {}, Record<string, any>>;
 }
 
+export interface UseMobilePickerSlotsComponentsProps<TDate, TView extends DateOrTimeView>
+  extends ExportedUseMobilePickerSlotsComponentsProps<TDate, TView>,
+    Pick<PickersLayoutSlotsComponentsProps<TDate | null, TDate, TView>, 'toolbar'> {}
+
 export interface MobileOnlyPickerProps<TDate>
   extends BaseNonStaticPickerProps,
     BaseSingleInputNonStaticPickerProps,
diff --git a/packages/x-date-pickers/src/internals/models/props/toolbar.ts b/packages/x-date-pickers/src/internals/models/props/toolbar.ts
index 4fc9228798a9..9fdbb976940e 100644
--- a/packages/x-date-pickers/src/internals/models/props/toolbar.ts
+++ b/packages/x-date-pickers/src/internals/models/props/toolbar.ts
@@ -19,6 +19,7 @@ export interface BaseToolbarProps<TValue, TView extends DateOrTimeView>
   views: readonly DateOrTimeView[];
   disabled?: boolean;
   readOnly?: boolean;
+  titleId?: string;
 }
 
 export interface ExportedBaseToolbarProps {
diff --git a/packages/x-date-pickers/src/tests/describeValue/testControlledUnControlled.tsx b/packages/x-date-pickers/src/tests/describeValue/testControlledUnControlled.tsx
index 82fa2827e8c5..5c963328df22 100644
--- a/packages/x-date-pickers/src/tests/describeValue/testControlledUnControlled.tsx
+++ b/packages/x-date-pickers/src/tests/describeValue/testControlledUnControlled.tsx
@@ -114,5 +114,85 @@ export const testControlledUnControlled: DescribeValueTestSuite<any, any> = (
       clock.runToLast();
       expect(handleChange.callCount).to.equal(0);
     });
+
+    it('should have correct labelledby relationship when toolbar is shown', () => {
+      const params = pickerParams as DescribeValueOptions<'picker', any>;
+      if (
+        componentFamily !== 'picker' ||
+        (params.variant === 'desktop' && (params.type === 'time' || params.type === 'date-range'))
+      ) {
+        return;
+      }
+
+      render(
+        <ElementToTest
+          open
+          slotProps={{ toolbar: { hidden: false } }}
+          localeText={{ toolbarTitle: 'Test toolbar' }}
+        />,
+      );
+      expect(screen.getByLabelText('Test toolbar')).to.have.attribute('role', 'dialog');
+    });
+
+    it('should have correct labelledby relationship with provided label when toolbar is hidden', () => {
+      const params = pickerParams as DescribeValueOptions<'picker', any>;
+      if (
+        componentFamily !== 'picker' ||
+        (params.variant === 'desktop' && (params.type === 'time' || params.type === 'date-range'))
+      ) {
+        return;
+      }
+
+      render(
+        <ElementToTest
+          open
+          {...(params.type === 'date-range'
+            ? {
+                localeText: {
+                  start: 'test',
+                  end: 'relationship',
+                },
+              }
+            : { label: 'test relationship' })}
+          slotProps={{ toolbar: { hidden: true } }}
+        />,
+      );
+      expect(screen.getByLabelText('test relationship', { selector: 'div' })).to.have.attribute(
+        'role',
+        'dialog',
+      );
+    });
+
+    it('should have correct labelledby relationship without label and hidden toolbar but external props', () => {
+      const params = pickerParams as DescribeValueOptions<'picker', any>;
+      if (
+        componentFamily !== 'picker' ||
+        (params.variant === 'desktop' && (params.type === 'time' || params.type === 'date-range'))
+      ) {
+        return;
+      }
+
+      render(
+        <div>
+          <div id="label-id">external label</div>
+          <ElementToTest
+            open
+            {...(params.type === 'date-range' && {
+              localeText: {
+                start: '',
+                end: '',
+              },
+            })}
+            slotProps={{
+              toolbar: { hidden: true },
+              [params.variant === 'desktop' ? 'popper' : 'mobilePaper']: {
+                'aria-labelledby': 'label-id',
+              },
+            }}
+          />
+        </div>,
+      );
+      expect(screen.getByLabelText('external label')).to.have.attribute('role', 'dialog');
+    });
   });
 };