diff --git a/boards/common/esp32.board.cmake b/boards/common/esp32.board.cmake
index 2b69f52f285..092f8635220 100644
--- a/boards/common/esp32.board.cmake
+++ b/boards/common/esp32.board.cmake
@@ -2,13 +2,7 @@
 
 board_set_flasher_ifnset(esp32)
 
-if(NOT DEFINED ESP_IDF_PATH)
-  if(DEFINED ENV{ESP_IDF_PATH})
-    message(WARNING "Setting ESP_IDF_PATH in the environment is deprecated. Use cmake -DESP_IDF_PATH=... instead.")
-    set(ESP_IDF_PATH $ENV{ESP_IDF_PATH})
-  endif()
-endif()
-
+set(ESP_IDF_PATH ${ZEPHYR_ESPRESSIF_MODULE_DIR})
 assert(ESP_IDF_PATH "ESP_IDF_PATH is not set")
 
 board_finalize_runner_args(esp32 "--esp-idf-path=${ESP_IDF_PATH}")
diff --git a/west.yml b/west.yml
index b5f61b9b447..cb79a5b1b93 100644
--- a/west.yml
+++ b/west.yml
@@ -43,9 +43,10 @@ manifest:
     - name: civetweb
       revision: e6903b80c09d17cd1a8bb32e40080005558aad29
       path: modules/lib/civetweb
-    - name: esp-idf
-      revision: 6835bfc741bf15e98fb7971293913f770df6081f
-      path: modules/hal/esp-idf
+    - name: hal_espressif
+      west-commands: west/west-commands.yml
+      revision: 895d99ed0902e8f3ddde7bdeb3a1fe2fa875b005
+      path: modules/hal/espressif
     - name: fatfs
       revision: 1d1fcc725aa1cb3c32f366e0c53d7490d0fe1109
       path: modules/fs/fatfs