diff --git a/drivers/pinctrl/Kconfig.esp32 b/drivers/pinctrl/Kconfig.esp32
index bcbe8622c4b..ea878b2dd71 100644
--- a/drivers/pinctrl/Kconfig.esp32
+++ b/drivers/pinctrl/Kconfig.esp32
@@ -4,8 +4,8 @@
 DT_COMPAT_ESP32_PINCTRL := espressif,esp32-pinctrl
 
 config PINCTRL_ESP32
-	bool "Pin controller driver for ESP32 SoC"
-	depends on SOC_ESP32
+	bool "ESP32 pin controller"
+	depends on SOC_ESP32 || SOC_ESP32S2
 	default $(dt_compat_enabled,$(DT_COMPAT_ESP32_PINCTRL))
 	help
-	  Enable pin controller driver for ESP32 SoC
+	  Enables ESP32 pin controller
diff --git a/soc/xtensa/esp32s2/pinctrl_soc.h b/soc/xtensa/esp32s2/pinctrl_soc.h
new file mode 100644
index 00000000000..ec49b58a3a6
--- /dev/null
+++ b/soc/xtensa/esp32s2/pinctrl_soc.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2022 Espressif Systems (Shanghai) Co., Ltd.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * ESP32S2 SoC specific helpers for pinctrl driver
+ */
+
+#ifndef ZEPHYR_SOC_XTENSA_ESP32S2_PINCTRL_SOC_H_
+#define ZEPHYR_SOC_XTENSA_ESP32S2_PINCTRL_SOC_H_
+
+#include <devicetree.h>
+#include <zephyr/types.h>
+
+#include <dt-bindings/pinctrl/esp-pinctrl-common.h>
+
+/** @cond INTERNAL_HIDDEN */
+
+/** Type for ESP32 pin. */
+typedef struct pinctrl_soc_pin {
+	/** Pinmux settings (pin, direction and signal). */
+	uint32_t pinmux;
+	/** Pincfg settings (bias). */
+	uint32_t pincfg;
+} pinctrl_soc_pin_t;
+
+/**
+ * @brief Utility macro to initialize pinmux field in #pinctrl_pin_t.
+ *
+ * @param node_id Node identifier.
+ */
+#define Z_PINCTRL_ESP32_PINMUX_INIT(node_id) DT_PROP(node_id, pinmux)
+
+/**
+ * @brief Utility macro to initialize pincfg field in #pinctrl_pin_t.
+ *
+ * @param node_id Node identifier.
+ */
+#define Z_PINCTRL_ESP32_PINCFG_INIT(node_id)	\
+	(((ESP32_NO_PULL * DT_PROP(node_id, bias_disable)) << ESP32_PIN_BIAS_SHIFT) |		\
+	 ((ESP32_PULL_UP * DT_PROP(node_id, bias_pull_up)) << ESP32_PIN_BIAS_SHIFT) |		\
+	 ((ESP32_PULL_DOWN * DT_PROP(node_id, bias_pull_down)) << ESP32_PIN_BIAS_SHIFT) |	\
+	 ((ESP32_PUSH_PULL * DT_PROP(node_id, drive_push_pull)) << ESP32_PIN_DRV_SHIFT) |	\
+	 ((ESP32_OPEN_DRAIN * DT_PROP(node_id, drive_open_drain)) << ESP32_PIN_DRV_SHIFT) |	\
+	 ((ESP32_PIN_OUT_HIGH * DT_PROP(node_id, output_high)) << ESP32_PIN_OUT_SHIFT) |	\
+	 ((ESP32_PIN_OUT_LOW * DT_PROP(node_id, output_low)) << ESP32_PIN_OUT_SHIFT))
+
+/**
+ * @brief Utility macro to initialize each pin.
+ *
+ * @param node_id Node identifier.
+ * @param state_prop State property name.
+ * @param idx State property entry index.
+ */
+#define Z_PINCTRL_STATE_PIN_INIT(node_id, state_prop, idx)			\
+	{ .pinmux = Z_PINCTRL_ESP32_PINMUX_INIT(				\
+		DT_PROP_BY_IDX(node_id, state_prop, idx)),			\
+	  .pincfg = Z_PINCTRL_ESP32_PINCFG_INIT(				\
+		DT_PROP_BY_IDX(node_id, state_prop, idx)) },
+
+/**
+ * @brief Utility macro to initialize state pins contained in a given property.
+ *
+ * @param node_id Node identifier.
+ * @param prop Property name describing state pins.
+ */
+#define Z_PINCTRL_STATE_PINS_INIT(node_id, prop)			       \
+	{DT_FOREACH_PROP_ELEM(node_id, prop, Z_PINCTRL_STATE_PIN_INIT)}
+
+/** @endcond */
+
+#endif /* ZEPHYR_SOC_XTENSA_ESP32S2_PINCTRL_SOC_H_ */