A multi-level class D audio power amplifier for supplying an N-level drive signal to a loudspeaker. The multi-level class D audio power amplifier includes a switching matrix having controllable semiconductor switches where the switching matrix include at least (N−2) switch inputs, coupled to respective ones of (N−2) DC input voltage nodes, and at least 2*(N−2) switch outputs coupled to respective ones of 2*(N−2) intermediate nodes of a first output driver. A control circuit is configured to sequentially connect each of the (N−2) DC input voltages to a predetermined set of nodes of the 2*(N−2) intermediate nodes of the first output driver via the switching matrix in accordance with one or more of the 2*(N−1) modulated control signals of the first output driver. N is a positive integer larger than or equal to 3.