diff --git a/samples/subsys/ipc/rpmsg_service/CMakeLists.txt b/samples/subsys/ipc/rpmsg_service/CMakeLists.txt
index 18108f25fa0..83667bb1690 100644
--- a/samples/subsys/ipc/rpmsg_service/CMakeLists.txt
+++ b/samples/subsys/ipc/rpmsg_service/CMakeLists.txt
@@ -20,6 +20,8 @@ elseif("${BOARD}" STREQUAL "v2m_musca_b1")
   set(BOARD_REMOTE "v2m_musca_b1_ns")
 elseif("${BOARD}" STREQUAL "esp32")
   set(BOARD_REMOTE "esp32_net")
+elseif("${BOARD}" STREQUAL "esp32s3_devkitm")
+  set(BOARD_REMOTE "esp32s3_devkitm_appcpu")
 else()
   message(FATAL_ERROR "${BOARD} was not supported for this sample")
 endif()
@@ -33,7 +35,7 @@ enable_language(C ASM)
 
 target_sources(app PRIVATE src/main.c)
 
-if("${BOARD}" STREQUAL "esp32")
+if("${BOARD}" STREQUAL "esp32" OR "${BOARD}" STREQUAL "esp32s3_devkitm")
   set_source_files_properties(${REMOTE_ZEPHYR_DIR}/esp32_net_firmware.c PROPERTIES GENERATED TRUE)
   target_sources(app PRIVATE src/main.c ${REMOTE_ZEPHYR_DIR}/esp32_net_firmware.c)
 endif()
@@ -52,7 +54,7 @@ ExternalProject_Add(
 
 if(("${BOARD}" STREQUAL "lpcxpresso54114_m4"))
 	add_dependencies(core_m0_inc_target rpmsg_service_remote)
-elseif("${BOARD}" STREQUAL "esp32")
+elseif("${BOARD}" STREQUAL "esp32" OR "${BOARD}" STREQUAL "esp32s3_devkitm")
   add_dependencies(app rpmsg_service_remote)
 endif()
 
diff --git a/samples/subsys/ipc/rpmsg_service/boards/esp32s3_devkitm.conf b/samples/subsys/ipc/rpmsg_service/boards/esp32s3_devkitm.conf
new file mode 100644
index 00000000000..a8ee714a955
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/boards/esp32s3_devkitm.conf
@@ -0,0 +1 @@
+CONFIG_SOC_ESP32S3_PROCPU=y
diff --git a/samples/subsys/ipc/rpmsg_service/boards/esp32s3_devkitm.overlay b/samples/subsys/ipc/rpmsg_service/boards/esp32s3_devkitm.overlay
new file mode 100644
index 00000000000..ad437c16e49
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/boards/esp32s3_devkitm.overlay
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <ryukokki.felipe@gmail.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &ipm0;
+	};
+};
+
+&ipm0 {
+	status = "okay";
+};
diff --git a/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt b/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt
index fa4fe6ebad5..76fc92e6307 100644
--- a/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt
+++ b/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt
@@ -10,7 +10,8 @@ if("${BOARD}" STREQUAL "nrf5340dk_nrf5340_cpunet"
 	OR "${BOARD}" STREQUAL "lpcxpresso54114_m0"
 	OR "${BOARD}" STREQUAL "mps2_an521_remote"
 	OR "${BOARD}" STREQUAL "v2m_musca_b1_ns"
-	OR "${BOARD}" STREQUAL "esp32_net")
+	OR "${BOARD}" STREQUAL "esp32_net"
+	OR "${BOARD}" STREQUAL "esp32s3_devkitm_appcpu")
 	message(STATUS "${BOARD} compile as slave in this sample")
 else()
 	message(FATAL_ERROR "${BOARD} was not supported for this sample")