diff --git a/soc/riscv/esp32c3/Kconfig.soc b/soc/riscv/esp32c3/Kconfig.soc
index b13bd3b3c55..ca53d0f672e 100644
--- a/soc/riscv/esp32c3/Kconfig.soc
+++ b/soc/riscv/esp32c3/Kconfig.soc
@@ -8,6 +8,7 @@ config SOC_ESP32C3
 	select DYNAMIC_INTERRUPTS
 	select CLOCK_CONTROL
 	select CLOCK_CONTROL_ESP32
+	select PINCTRL
 
 if SOC_ESP32C3
 
diff --git a/soc/xtensa/esp32/Kconfig.soc b/soc/xtensa/esp32/Kconfig.soc
index 5825742e572..e20029064dd 100644
--- a/soc/xtensa/esp32/Kconfig.soc
+++ b/soc/xtensa/esp32/Kconfig.soc
@@ -9,6 +9,7 @@ config SOC_ESP32
 	select DYNAMIC_INTERRUPTS
 	select ARCH_HAS_GDBSTUB
 	select ARCH_SUPPORTS_COREDUMP
+	select PINCTRL
 
 if SOC_ESP32
 
diff --git a/soc/xtensa/esp32s2/Kconfig.soc b/soc/xtensa/esp32s2/Kconfig.soc
index 726cd8452bd..c11f13aff73 100644
--- a/soc/xtensa/esp32s2/Kconfig.soc
+++ b/soc/xtensa/esp32s2/Kconfig.soc
@@ -8,6 +8,7 @@ config SOC_ESP32S2
 	select DYNAMIC_INTERRUPTS
 	select CLOCK_CONTROL
 	select CLOCK_CONTROL_ESP32
+	select PINCTRL
 
 if SOC_ESP32S2