diff --git a/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig b/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig
index aa3545b4e39..9b919996ada 100644
--- a/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig
+++ b/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig
@@ -15,6 +15,9 @@ CONFIG_UART_ROM_ESP32S2=y
 
 CONFIG_XTENSA_USE_CORE_CRT1=n
 
+CONFIG_PINMUX=y
+CONFIG_PINMUX_ESP32=y
+
 CONFIG_GEN_ISR_TABLES=y
 CONFIG_GEN_IRQ_VECTOR_TABLE=n
 
diff --git a/drivers/pinmux/Kconfig.esp32 b/drivers/pinmux/Kconfig.esp32
index f2c2f6078b9..a7089751e99 100644
--- a/drivers/pinmux/Kconfig.esp32
+++ b/drivers/pinmux/Kconfig.esp32
@@ -5,6 +5,6 @@
 
 config PINMUX_ESP32
 	bool "ESP32 Pin multiplexer driver"
-	depends on SOC_ESP32
+	depends on SOC_ESP32 || SOC_ESP32S2
 	help
 	  Enable driver for ESP32 Pin multiplexer.
diff --git a/dts/xtensa/espressif/esp32s2.dtsi b/dts/xtensa/espressif/esp32s2.dtsi
index fb389a984e3..43bbd4cec32 100644
--- a/dts/xtensa/espressif/esp32s2.dtsi
+++ b/dts/xtensa/espressif/esp32s2.dtsi
@@ -37,6 +37,11 @@
 			label = "UART_0";
 			status = "disabled";
 		};
+
+		pinmux: pinmux@3f409000 {
+			compatible = "espressif,esp32-pinmux";
+			reg = <0x3f409000 0x94>;
+		};
 	};
 
 };