diff --git a/boards/xtensa/esp32s3_devkitm/doc/index.rst b/boards/xtensa/esp32s3_devkitm/doc/index.rst
index 6236b8fd745..b0549cb5d3a 100644
--- a/boards/xtensa/esp32s3_devkitm/doc/index.rst
+++ b/boards/xtensa/esp32s3_devkitm/doc/index.rst
@@ -92,6 +92,8 @@ Current Zephyr's ESP32-S3-DevKitM board supports the following features:
 +------------+------------+-------------------------------------+
 | SPI Master | on-chip    | spi                                 |
 +------------+------------+-------------------------------------+
+| TWAI/CAN   | on-chip    | can                                 |
++------------+------------+-------------------------------------+
 | Timers     | on-chip    | counter                             |
 +------------+------------+-------------------------------------+
 | Watchdog   | on-chip    | watchdog                            |
diff --git a/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm-pinctrl.dtsi b/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm-pinctrl.dtsi
index a11f60a023d..34fa6e920c6 100644
--- a/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm-pinctrl.dtsi
+++ b/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm-pinctrl.dtsi
@@ -63,4 +63,11 @@
 			output-low;
 		};
 	};
+
+	twai_default: twai_default {
+		group1 {
+			pinmux = <TWAI_TX_GPIO5>,
+				<TWAI_RX_GPIO6>;
+		};
+	};
 };
diff --git a/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.dts b/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.dts
index 253821bea32..f61034c2d1b 100644
--- a/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.dts
+++ b/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.dts
@@ -93,6 +93,12 @@
 	pinctrl-names = "default";
 };
 
+&twai {
+	pinctrl-0 = <&twai_default>;
+	pinctrl-names = "default";
+	bus-speed = <125000>;
+};
+
 &timer0 {
 	status = "disabled";
 };
diff --git a/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.yaml b/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.yaml
index 7c9af9dc6f5..b44b2ec9357 100644
--- a/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.yaml
+++ b/boards/xtensa/esp32s3_devkitm/esp32s3_devkitm.yaml
@@ -9,6 +9,7 @@ supported:
   - uart
   - i2c
   - spi
+  - can
   - counter
   - watchdog
   - entropy
diff --git a/tests/drivers/can/api/testcase.yaml b/tests/drivers/can/api/testcase.yaml
index b2536dabed8..16872321671 100644
--- a/tests/drivers/can/api/testcase.yaml
+++ b/tests/drivers/can/api/testcase.yaml
@@ -11,4 +11,4 @@ tests:
       - can
     extra_args: DTC_OVERLAY_FILE=twai-enable.overlay
     filter: dt_compat_enabled("espressif,esp32-twai")
-    platform_allow: esp32c3_devkitm
+    platform_allow: esp32c3_devkitm esp32s3_devkitm