diff --git a/samples/drivers/mbox/CMakeLists.txt b/samples/drivers/mbox/CMakeLists.txt
index 658a18ac21f..00eab257b4d 100644
--- a/samples/drivers/mbox/CMakeLists.txt
+++ b/samples/drivers/mbox/CMakeLists.txt
@@ -17,6 +17,8 @@ if(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP OR
    CONFIG_BOARD_MIMXRT1170_EVK_MIMXRT1176_CM7 OR
    CONFIG_BOARD_MIMXRT1160_EVK_MIMXRT1166_CM7 OR
    CONFIG_BOARD_LPCXPRESSO55S69_LPC55S69_CPU0 OR
+   CONFIG_BOARD_ESP32_DEVKITC_WROOM_ESP32_PROCPU OR
+   CONFIG_BOARD_ESP32S3_DEVKITM_ESP32S3_PROCPU OR
    CONFIG_BOARD_NRF54H20DK_NRF54H20_CPUAPP OR
    CONFIG_BOARD_NRF54H20DK_NRF54H20_CPURAD OR
    CONFIG_BOARD_NRF54L15PDK_NRF54L15_CPUAPP OR
@@ -35,4 +37,9 @@ if(CONFIG_INCLUDE_REMOTE_DIR)
     INTERFACE ${REMOTE_ZEPHYR_DIR}/include/public)
 endif()
 
-target_sources(app PRIVATE src/main.c)
+if("${BOARD}" STREQUAL "esp32_devkitc_wrover_procpu" OR "${BOARD}" STREQUAL "esp32s3_devkitm_procpu")
+  set_source_files_properties(${REMOTE_ZEPHYR_DIR}/esp32_appcpu_firmware.c PROPERTIES GENERATED TRUE)
+  target_sources(app PRIVATE src/main.c ${REMOTE_ZEPHYR_DIR}/esp32_appcpu_firmware.c)
+else()
+  target_sources(app PRIVATE src/main.c)
+endif()
diff --git a/samples/drivers/mbox/Kconfig.sysbuild b/samples/drivers/mbox/Kconfig.sysbuild
index ab6b1bff171..2c7060626bc 100644
--- a/samples/drivers/mbox/Kconfig.sysbuild
+++ b/samples/drivers/mbox/Kconfig.sysbuild
@@ -17,3 +17,5 @@ config REMOTE_BOARD
 	default "nrf54h20dk/nrf54h20/cpuapp" if "$(BOARD)${BOARD_QUALIFIERS}" = "nrf54h20dk/nrf54h20/cpurad"
 	default "nrf54l15pdk/nrf54l15/cpuflpr" if $(BOARD) = "nrf54l15pdk"
 	default "stm32h747i_disco/stm32h747xx/m4" if $(BOARD) = "stm32h747i_disco"
+	default "esp32_devkitc_wroom/esp32/appcpu" if "$(BOARD)${BOARD_QUALIFIERS}" = "esp32_devkitc_wroom/esp32/procpu"
+	default "esp32s3_devkitm/esp32s3/appcpu" if "$(BOARD)${BOARD_QUALIFIERS}" = "esp32s3_devkitm/esp32s3/procpu"
diff --git a/samples/drivers/mbox/boards/esp32_devkitc_wroom_procpu.overlay b/samples/drivers/mbox/boards/esp32_devkitc_wroom_procpu.overlay
new file mode 100644
index 00000000000..211ec3f8f51
--- /dev/null
+++ b/samples/drivers/mbox/boards/esp32_devkitc_wroom_procpu.overlay
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2024 Felipe Neves.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &mbox0;
+	};
+
+	mbox-consumer {
+		compatible = "vnd,mbox-consumer";
+		mboxes = <&mbox0 1>, <&mbox0 0>;
+		mbox-names = "tx", "rx";
+	};
+};
+
+&mbox0 {
+	status = "okay";
+};
diff --git a/samples/drivers/mbox/boards/esp32s3_devkitm_procpu.overlay b/samples/drivers/mbox/boards/esp32s3_devkitm_procpu.overlay
new file mode 100644
index 00000000000..211ec3f8f51
--- /dev/null
+++ b/samples/drivers/mbox/boards/esp32s3_devkitm_procpu.overlay
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2024 Felipe Neves.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &mbox0;
+	};
+
+	mbox-consumer {
+		compatible = "vnd,mbox-consumer";
+		mboxes = <&mbox0 1>, <&mbox0 0>;
+		mbox-names = "tx", "rx";
+	};
+};
+
+&mbox0 {
+	status = "okay";
+};
diff --git a/samples/drivers/mbox/remote/CMakeLists.txt b/samples/drivers/mbox/remote/CMakeLists.txt
index 203fab879a3..daccb9899e6 100644
--- a/samples/drivers/mbox/remote/CMakeLists.txt
+++ b/samples/drivers/mbox/remote/CMakeLists.txt
@@ -15,6 +15,8 @@ if(CONFIG_BOARD_NRF5340DK_NRF5340_CPUNET OR
    CONFIG_BOARD_MIMXRT1170_EVK_MIMXRT1176_CM4 OR
    CONFIG_BOARD_MIMXRT1160_EVK_MIMXRT1166_CM4 OR
    CONFIG_BOARD_LPCXPRESSO55S69_LPC55S69_CPU1 OR
+   CONFIG_BOARD_ESP32_DEVKITC_WROOM_ESP32_APPCPU OR
+   CONFIG_BOARD_ESP32S3_DEVKITM_ESP32S3_APPCPU OR
    CONFIG_BOARD_NRF54H20DK_NRF54H20_CPUPPR OR
    CONFIG_BOARD_NRF54H20DK_NRF54H20_CPUFLPR OR
    CONFIG_BOARD_NRF54H20DK_NRF54H20_CPUAPP OR
diff --git a/samples/drivers/mbox/remote/boards/esp32_devkitc_wroom_appcpu.overlay b/samples/drivers/mbox/remote/boards/esp32_devkitc_wroom_appcpu.overlay
new file mode 100644
index 00000000000..c9643fb3e5d
--- /dev/null
+++ b/samples/drivers/mbox/remote/boards/esp32_devkitc_wroom_appcpu.overlay
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2024 Felipe Neves.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &mbox0;
+	};
+
+	mbox-consumer {
+		compatible = "vnd,mbox-consumer";
+		mboxes = <&mbox0 0>, <&mbox0 1>;
+		mbox-names = "tx", "rx";
+	};
+};
+
+&mbox0 {
+	status = "okay";
+};
diff --git a/samples/drivers/mbox/remote/boards/esp32s3_devkitm_appcpu.overlay b/samples/drivers/mbox/remote/boards/esp32s3_devkitm_appcpu.overlay
new file mode 100644
index 00000000000..c9643fb3e5d
--- /dev/null
+++ b/samples/drivers/mbox/remote/boards/esp32s3_devkitm_appcpu.overlay
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2024 Felipe Neves.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,ipc_shm = &shm0;
+		zephyr,ipc = &mbox0;
+	};
+
+	mbox-consumer {
+		compatible = "vnd,mbox-consumer";
+		mboxes = <&mbox0 0>, <&mbox0 1>;
+		mbox-names = "tx", "rx";
+	};
+};
+
+&mbox0 {
+	status = "okay";
+};