diff --git a/boards/xtensa/esp32s2_saola/esp32s2_saola.dts b/boards/xtensa/esp32s2_saola/esp32s2_saola.dts
index 7f6e03fa011..f5dc69c5afc 100644
--- a/boards/xtensa/esp32s2_saola/esp32s2_saola.dts
+++ b/boards/xtensa/esp32s2_saola/esp32s2_saola.dts
@@ -23,3 +23,19 @@
 	status = "okay";
 	current-speed = <115200>;
 };
+
+&timer0 {
+	status = "okay";
+};
+
+&timer1 {
+	status = "okay";
+};
+
+&timer2 {
+	status = "okay";
+};
+
+&timer3 {
+	status = "okay";
+};
diff --git a/drivers/counter/Kconfig.esp32 b/drivers/counter/Kconfig.esp32
index 975f91bc1bc..8b83a0b1fdf 100644
--- a/drivers/counter/Kconfig.esp32
+++ b/drivers/counter/Kconfig.esp32
@@ -5,9 +5,9 @@
 
 menuconfig COUNTER_ESP32
 	bool "ESP32 Counter Driver"
-	depends on SOC_ESP32
+	depends on SOC_ESP32 || SOC_ESP32S2
 	help
-	  Enable Counter driver for ESP32.
+	  Enable Counter driver for ESP32 series devices.
 
 if COUNTER_ESP32
 
diff --git a/dts/xtensa/espressif/esp32s2.dtsi b/dts/xtensa/espressif/esp32s2.dtsi
index 7bd19c46ee3..0f7054b2ac2 100644
--- a/dts/xtensa/espressif/esp32s2.dtsi
+++ b/dts/xtensa/espressif/esp32s2.dtsi
@@ -75,6 +75,42 @@
 			label = "GPIO_1";
 			ngpios = <22>;   /* 32..53 */
 		};
+
+		timer0: counter@3f41f000 {
+			compatible = "espressif,esp32-timer";
+			reg = <0x3f41f000 DT_SIZE_K(4)>;
+			interrupts = <TG0_T0_LEVEL_INTR_SOURCE>;
+			interrupt-parent = <&intc>;
+			label = "TIMG0_T0";
+			status = "disabled";
+		};
+
+		timer1: counter@3f41f024 {
+			compatible = "espressif,esp32-timer";
+			reg = <0x3ff5f024 DT_SIZE_K(4)>;
+			interrupts = <TG0_T1_LEVEL_INTR_SOURCE>;
+			interrupt-parent = <&intc>;
+			label = "TIMG0_T1";
+			status = "disabled";
+		};
+
+		timer2: counter@3f420000 {
+			compatible = "espressif,esp32-timer";
+			reg = <0x3f420000 DT_SIZE_K(4)>;
+			interrupts = <TG0_T1_LEVEL_INTR_SOURCE>;
+			interrupt-parent = <&intc>;
+			label = "TIMG1_T0";
+			status = "disabled";
+		};
+
+		timer3: counter@3f420024 {
+			compatible = "espressif,esp32-timer";
+			reg = <0x3f420024 DT_SIZE_K(4)>;
+			interrupts = <TG1_T1_LEVEL_INTR_SOURCE>;
+			interrupt-parent = <&intc>;
+			label = "TIMG1_T1";
+			status = "disabled";
+		};
 	};
 
 };