diff --git a/boards/common/esp32.board.cmake b/boards/common/esp32.board.cmake
index 092f8635220..b36eb977968 100644
--- a/boards/common/esp32.board.cmake
+++ b/boards/common/esp32.board.cmake
@@ -1,6 +1,16 @@
 # SPDX-License-Identifier: Apache-2.0
 
 board_set_flasher_ifnset(esp32)
+board_set_debugger_ifnset(openocd)
+
+board_runner_args(openocd  --no-init --no-halt --no-targets --no-load)
+board_runner_args(openocd  --gdb-init "set remote hardware-watchpoint-limit 2")
+board_runner_args(openocd  --gdb-init "set disassemble-next-line on")
+board_runner_args(openocd  --gdb-init "set print pretty on")
+
+board_runner_args(openocd  --gdb-init "flushregs")
+board_runner_args(openocd  --gdb-init "mon reset halt")
+board_runner_args(openocd  --gdb-init "thb main")
 
 set(ESP_IDF_PATH ${ZEPHYR_ESPRESSIF_MODULE_DIR})
 assert(ESP_IDF_PATH "ESP_IDF_PATH is not set")
diff --git a/boards/xtensa/esp32/board.cmake b/boards/xtensa/esp32/board.cmake
index 71735daa671..0030e44477e 100644
--- a/boards/xtensa/esp32/board.cmake
+++ b/boards/xtensa/esp32/board.cmake
@@ -1,3 +1,17 @@
 # SPDX-License-Identifier: Apache-2.0
 
+board_runner_args(openocd  --cmd-pre-init "set ESP_RTOS none")
+board_runner_args(openocd  --cmd-pre-init "set ESP32_ONLYCPU 1")
+
+# select FT2232 as default interface (as in ESP-WROVER-KIT or ESP-Prog)
+board_runner_args(openocd  --config "interface/ftdi/esp32_devkitj_v1.cfg")
+board_runner_args(openocd  --config "target/esp32.cfg")
+
+set (ESPRESSIF_OPENOCD_TOOL ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/bin/openocd)
+set (ESPRESSIF_OPENOCD_SCRIPTS ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/share/openocd/scripts)
+
+set(OPENOCD ${ESPRESSIF_OPENOCD_TOOL})
+set(OPENOCD_DEFAULT_PATH ${ESPRESSIF_OPENOCD_SCRIPTS})
+
 include(${ZEPHYR_BASE}/boards/common/esp32.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
diff --git a/boards/xtensa/esp32s2_saola/board.cmake b/boards/xtensa/esp32s2_saola/board.cmake
index 71735daa671..a44bded314a 100644
--- a/boards/xtensa/esp32s2_saola/board.cmake
+++ b/boards/xtensa/esp32s2_saola/board.cmake
@@ -1,3 +1,17 @@
 # SPDX-License-Identifier: Apache-2.0
 
+board_runner_args(openocd  --cmd-pre-init "set ESP_RTOS none")
+board_runner_args(openocd  --cmd-pre-init "set ESP32_ONLYCPU 1")
+
+# select FT2232 as default interface (as in ESP-WROVER-KIT or ESP-Prog)
+board_runner_args(openocd  --config "interface/ftdi/esp32s2_kaluga_v1.cfg")
+board_runner_args(openocd  --config "target/esp32s2.cfg")
+
+set (ESPRESSIF_OPENOCD_TOOL ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/bin/openocd)
+set (ESPRESSIF_OPENOCD_SCRIPTS ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/share/openocd/scripts)
+
+set(OPENOCD ${ESPRESSIF_OPENOCD_TOOL})
+set(OPENOCD_DEFAULT_PATH ${ESPRESSIF_OPENOCD_SCRIPTS})
+
 include(${ZEPHYR_BASE}/boards/common/esp32.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)