diff --git a/Kconfig.zephyr b/Kconfig.zephyr
index 6aa95138f82..d2d3e0a8db1 100644
--- a/Kconfig.zephyr
+++ b/Kconfig.zephyr
@@ -695,7 +695,8 @@ endif # BOOTLOADER_MCUBOOT
 
 config BOOTLOADER_ESP_IDF
 	bool "ESP-IDF bootloader support"
-	depends on SOC_ESP32 || SOC_ESP32S2
+	depends on (SOC_ESP32 || SOC_ESP32S2 || SOC_ESP32C3) && !BOOTLOADER_MCUBOOT
+	default y
 	help
 	  This option will trigger the compilation of the ESP-IDF bootloader
 	  inside the build folder.
diff --git a/boards/xtensa/esp32/CMakeLists.txt b/boards/xtensa/esp32/CMakeLists.txt
deleted file mode 100644
index 61c684c20a2..00000000000
--- a/boards/xtensa/esp32/CMakeLists.txt
+++ /dev/null
@@ -1,65 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-if(CONFIG_BOOTLOADER_ESP_IDF)
-  include(ExternalProject)
-
-  ## we use hell-world project, but I think any can be used.
-  set(espidf_components_dir   ${ESP_IDF_PATH}/components)
-  set(espidf_prefix    ${CMAKE_BINARY_DIR}/esp-idf)
-  set(espidf_build_dir ${espidf_prefix}/build)
-
-  ExternalProject_Add(
-    EspIdfBootloader
-    PREFIX ${espidf_prefix}
-    SOURCE_DIR ${espidf_components_dir}/bootloader/subproject
-    BINARY_DIR ${espidf_build_dir}/bootloader
-    CONFIGURE_COMMAND
-    ${CMAKE_COMMAND} -G${CMAKE_GENERATOR}
-    -S ${espidf_components_dir}/bootloader/subproject
-    -B ${espidf_build_dir}/bootloader -DSDKCONFIG=${espidf_build_dir}/sdkconfig
-    -DIDF_PATH=${ESP_IDF_PATH} -DIDF_TARGET=${CONFIG_BOARD}
-    -DPYTHON_DEPS_CHECKED=1
-    -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
-    -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
-    -DCMAKE_ASM_COMPILER=${CMAKE_ASM_COMPILER}
-    -DCMAKE_SYSTEM_NAME=${CMAKE_SYSTEM_NAME}
-    -DPYTHON=${PYTHON_EXECUTABLE}
-    BUILD_COMMAND
-    ${CMAKE_COMMAND} --build .
-    INSTALL_COMMAND ""      # This particular build system has no install command
-    )
-
-  ExternalProject_Add(
-    EspPartitionTable
-    SOURCE_DIR ${espidf_components_dir}/partition_table
-    BINARY_DIR ${espidf_build_dir}
-    CONFIGURE_COMMAND ""
-    BUILD_COMMAND
-    ${PYTHON_EXECUTABLE} ${ESP_IDF_PATH}/components/partition_table/gen_esp32part.py -q
-    --offset 0x8000 --flash-size 4MB ${ESP_IDF_PATH}/components/partition_table/partitions_singleapp.csv ${espidf_build_dir}/partitions_singleapp.bin
-    INSTALL_COMMAND ""
-    )
-
-  if(CONFIG_BUILD_OUTPUT_BIN)
-    set_property(GLOBAL APPEND PROPERTY extra_post_build_commands
-      COMMAND ${PYTHON_EXECUTABLE} ${ESP_IDF_PATH}/components/esptool_py/esptool/esptool.py
-      ARGS --chip esp32 elf2image --flash_mode dio --flash_freq 40m
-      -o ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.bin
-      ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.elf)
-  endif()
-
-  set_property(TARGET bintools PROPERTY disassembly_flag_inline_source)
-
-  add_dependencies(app EspIdfBootloader EspPartitionTable)
-
-  board_finalize_runner_args(esp32 "--esp-flash-bootloader=${espidf_build_dir}/bootloader/bootloader.bin")
-
-  board_finalize_runner_args(esp32 "--esp-flash-partition_table=${espidf_build_dir}/partitions_singleapp.bin")
-
-  board_finalize_runner_args(esp32 "--esp-boot-address=0x1000")
-
-  board_finalize_runner_args(esp32 "--esp-partition-table-address=0x8000")
-
-  board_finalize_runner_args(esp32 "--esp-app-address=0x10000")
-
-endif()
diff --git a/boards/xtensa/esp32/esp32_defconfig b/boards/xtensa/esp32/esp32_defconfig
index 01596c34f40..57db7b496fc 100644
--- a/boards/xtensa/esp32/esp32_defconfig
+++ b/boards/xtensa/esp32/esp32_defconfig
@@ -26,5 +26,3 @@ CONFIG_GEN_IRQ_VECTOR_TABLE=n
 
 CONFIG_I2C=y
 CONFIG_CLOCK_CONTROL=y
-
-CONFIG_BOOTLOADER_ESP_IDF=y
diff --git a/scripts/west_commands/runners/esp32.py b/scripts/west_commands/runners/esp32.py
index 56e2342bee1..22e1359a935 100644
--- a/scripts/west_commands/runners/esp32.py
+++ b/scripts/west_commands/runners/esp32.py
@@ -18,9 +18,10 @@ class Esp32BinaryRunner(ZephyrBinaryRunner):
     def __init__(self, cfg, device, boot_address, part_table_address,
                  app_address, baud=921600, flash_size='detect',
                  flash_freq='40m', flash_mode='dio', espidf='espidf',
-                 bootloader_bin=None, partition_table_bin=None, app_bin=None):
+                 bootloader_bin=None, partition_table_bin=None):
         super().__init__(cfg)
         self.elf = cfg.elf_file
+        self.app_bin = cfg.bin_file
         self.device = device
         self.boot_address = boot_address
         self.part_table_address = part_table_address
@@ -32,7 +33,6 @@ class Esp32BinaryRunner(ZephyrBinaryRunner):
         self.espidf = espidf
         self.bootloader_bin = bootloader_bin
         self.partition_table_bin = partition_table_bin
-        self.app_bin = app_bin
 
     @classmethod
     def name(cls):
@@ -72,8 +72,6 @@ class Esp32BinaryRunner(ZephyrBinaryRunner):
                             help='Bootloader image to flash')
         parser.add_argument('--esp-flash-partition_table',
                             help='Partition table to flash')
-        parser.add_argument('--esp-flash-app',
-                            help='App to flash')
 
     @classmethod
     def do_create(cls, cfg, args):
@@ -86,19 +84,14 @@ class Esp32BinaryRunner(ZephyrBinaryRunner):
         return Esp32BinaryRunner(
             cfg, args.esp_device, boot_address=args.esp_boot_address,
             part_table_address=args.esp_partition_table_address,
-            app_address=args.esp_app_address,baud=args.esp_baud_rate,
+            app_address=args.esp_app_address, baud=args.esp_baud_rate,
             flash_size=args.esp_flash_size, flash_freq=args.esp_flash_freq,
             flash_mode=args.esp_flash_mode, espidf=espidf,
             bootloader_bin=args.esp_flash_bootloader,
-            partition_table_bin=args.esp_flash_partition_table,
-            app_bin=args.esp_flash_app)
+            partition_table_bin=args.esp_flash_partition_table)
 
     def do_run(self, command, **kwargs):
         self.require(self.espidf)
-        if self.app_bin:
-            bin_name = self.app_bin
-        else:
-            bin_name = path.splitext(self.elf)[0] + path.extsep + 'bin'
 
         cmd_flash = [self.espidf, '--chip', 'auto']
         if self.device is not None:
@@ -116,12 +109,12 @@ class Esp32BinaryRunner(ZephyrBinaryRunner):
 
         if self.bootloader_bin:
             cmd_flash.extend([self.boot_address, self.bootloader_bin])
-            if self.partition_table_bin:
-                cmd_flash.extend([self.part_table_address, self.partition_table_bin])
-            cmd_flash.extend([self.app_address, bin_name])
+            cmd_flash.extend([self.part_table_address, self.partition_table_bin])
+            cmd_flash.extend([self.app_address, self.app_bin])
         else:
-            cmd_flash.extend([self.boot_address, bin_name])
+            cmd_flash.extend([self.app_address, self.app_bin])
 
         self.logger.info("Flashing esp32 chip on {} ({}bps)".
                          format(self.device, self.baud))
+        print(cmd_flash)
         self.check_call(cmd_flash)
diff --git a/soc/xtensa/esp32/CMakeLists.txt b/soc/xtensa/esp32/CMakeLists.txt
index eac2ee2dab3..8f589f7e3f9 100644
--- a/soc/xtensa/esp32/CMakeLists.txt
+++ b/soc/xtensa/esp32/CMakeLists.txt
@@ -6,4 +6,78 @@ zephyr_sources(
   loader.c
   )
 
-  zephyr_library_sources_ifdef(CONFIG_GDBSTUB gdbstub.c)
+zephyr_library_sources_ifdef(CONFIG_GDBSTUB gdbstub.c)
+
+if(CONFIG_BOOTLOADER_ESP_IDF)
+  include(ExternalProject)
+
+  ## we use hello-world project, but I think any can be used.
+  set(espidf_components_dir   ${ESP_IDF_PATH}/components)
+  set(espidf_prefix    ${CMAKE_BINARY_DIR}/esp-idf)
+  set(espidf_build_dir ${espidf_prefix}/build)
+
+  ExternalProject_Add(
+    EspIdfBootloader
+    PREFIX ${espidf_prefix}
+    SOURCE_DIR ${espidf_components_dir}/bootloader/subproject
+    BINARY_DIR ${espidf_build_dir}/bootloader
+    CONFIGURE_COMMAND
+    ${CMAKE_COMMAND} -G${CMAKE_GENERATOR}
+    -S ${espidf_components_dir}/bootloader/subproject
+    -B ${espidf_build_dir}/bootloader -DSDKCONFIG=${espidf_build_dir}/sdkconfig
+    -DIDF_PATH=${ESP_IDF_PATH} -DIDF_TARGET=${CONFIG_BOARD}
+    -DPYTHON_DEPS_CHECKED=1
+    -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
+    -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
+    -DCMAKE_ASM_COMPILER=${CMAKE_ASM_COMPILER}
+    -DCMAKE_SYSTEM_NAME=${CMAKE_SYSTEM_NAME}
+    -DPYTHON=${PYTHON_EXECUTABLE}
+    BUILD_COMMAND
+    ${CMAKE_COMMAND} --build .
+    INSTALL_COMMAND ""      # This particular build system has no install command
+    )
+
+  ExternalProject_Add(
+    EspPartitionTable
+    SOURCE_DIR ${espidf_components_dir}/partition_table
+    BINARY_DIR ${espidf_build_dir}
+    CONFIGURE_COMMAND ""
+    BUILD_COMMAND
+    ${PYTHON_EXECUTABLE} ${ESP_IDF_PATH}/components/partition_table/gen_esp32part.py -q
+    --offset 0x8000 --flash-size 4MB ${ESP_IDF_PATH}/components/partition_table/partitions_singleapp.csv ${espidf_build_dir}/partitions_singleapp.bin
+    INSTALL_COMMAND ""
+    )
+
+  if(CONFIG_BUILD_OUTPUT_BIN)
+    set_property(GLOBAL APPEND PROPERTY extra_post_build_commands
+      COMMAND ${PYTHON_EXECUTABLE} ${ESP_IDF_PATH}/components/esptool_py/esptool/esptool.py
+      ARGS --chip esp32 elf2image --flash_mode dio --flash_freq 40m
+      -o ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.bin
+      ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.elf)
+  endif()
+
+  set_property(TARGET bintools PROPERTY disassembly_flag_inline_source)
+
+  add_dependencies(app EspIdfBootloader EspPartitionTable)
+
+  board_finalize_runner_args(esp32 "--esp-flash-bootloader=${espidf_build_dir}/bootloader/bootloader.bin")
+
+  board_finalize_runner_args(esp32 "--esp-flash-partition_table=${espidf_build_dir}/partitions_singleapp.bin")
+
+  board_finalize_runner_args(esp32 "--esp-boot-address=0x1000")
+
+  board_finalize_runner_args(esp32 "--esp-partition-table-address=0x8000")
+
+  board_finalize_runner_args(esp32 "--esp-app-address=0x10000")
+
+endif()
+
+if(CONFIG_BOOTLOADER_MCUBOOT)
+
+  # get code-partition slot0 address
+  dt_nodelabel(dts_partition_path NODELABEL "slot0_partition")
+  dt_reg_addr(img_0_off PATH ${dts_partition_path})
+
+  board_finalize_runner_args(esp32 "--esp-app-address=${img_0_off}")
+
+endif()
diff --git a/soc/xtensa/esp32/Kconfig.defconfig b/soc/xtensa/esp32/Kconfig.defconfig
index 52fc27e672d..8a562ccfa65 100644
--- a/soc/xtensa/esp32/Kconfig.defconfig
+++ b/soc/xtensa/esp32/Kconfig.defconfig
@@ -5,6 +5,23 @@
 
 if SOC_ESP32
 
+if BOOTLOADER_MCUBOOT
+	config HAS_FLASH_LOAD_OFFSET
+		default y
+
+	config XIP
+		default y
+
+	config MCUBOOT_GENERATE_UNSIGNED_IMAGE
+		default y
+
+	config MCUBOOT_GENERATE_CONFIRMED_IMAGE
+		default y
+
+	config ROM_START_OFFSET
+		default 0x20
+endif
+
 config SOC
 	default "esp32"