diff --git a/drivers/wifi/esp_at/Kconfig.esp_at b/drivers/wifi/esp_at/Kconfig.esp_at
index ed3024cc42a..f30f34d6edf 100644
--- a/drivers/wifi/esp_at/Kconfig.esp_at
+++ b/drivers/wifi/esp_at/Kconfig.esp_at
@@ -130,7 +130,7 @@ endif
 
 choice WIFI_ESP_AT_VERSION
 	prompt "AT version"
-	default WIFI_ESP_AT_VERSION_2_0
+	default WIFI_ESP_AT_VERSION_2_1
 	help
 	  Select which version of AT command set should be used.
 
@@ -144,6 +144,11 @@ config WIFI_ESP_AT_VERSION_2_0
 	help
 	  Use AT command set version 2.0.
 
+config WIFI_ESP_AT_VERSION_2_1
+	bool "AT version 2.1"
+	help
+	  Use AT command set version 2.1.
+
 endchoice
 
 config WIFI_ESP_AT_DNS_USE
diff --git a/drivers/wifi/esp_at/esp.c b/drivers/wifi/esp_at/esp.c
index 0fa2d77f7a6..766d055efdf 100644
--- a/drivers/wifi/esp_at/esp.c
+++ b/drivers/wifi/esp_at/esp.c
@@ -970,7 +970,7 @@ static void esp_init_work(struct k_work *work)
 		SETUP_CMD_NOHANDLE(
 			ESP_CMD_CWLAPOPT(ESP_CMD_CWLAPOPT_ORDERED, ESP_CMD_CWLAPOPT_MASK)),
 
-#if defined(CONFIG_WIFI_ESP_AT_VERSION_2_0)
+#if !defined(CONFIG_WIFI_ESP_AT_VERSION_1_7)
 		SETUP_CMD_NOHANDLE(ESP_CMD_CWMODE(STA)),
 		SETUP_CMD_NOHANDLE("AT+CWAUTOCONN=0"),
 		SETUP_CMD_NOHANDLE(ESP_CMD_CWMODE(NONE)),
diff --git a/drivers/wifi/esp_at/esp.h b/drivers/wifi/esp_at/esp.h
index 4a0b141f064..e1766ee04a8 100644
--- a/drivers/wifi/esp_at/esp.h
+++ b/drivers/wifi/esp_at/esp.h
@@ -107,7 +107,7 @@ extern "C" {
 #define ESP_MODE_AP		2
 #define ESP_MODE_STA_AP		3
 
-#if defined(CONFIG_WIFI_ESP_AT_VERSION_1_7)
+#if defined(CONFIG_WIFI_ESP_AT_VERSION_1_7) || defined(CONFIG_WIFI_ESP_AT_VERSION_2_0)
 #define ESP_CMD_CWMODE(mode) "AT+"_CWMODE"="STRINGIFY(_CONCAT(ESP_MODE_, mode))
 #else
 #define ESP_CMD_CWMODE(mode) "AT+"_CWMODE"="STRINGIFY(_CONCAT(ESP_MODE_, mode))",0"