diff --git a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
index 978938ee57b..4cdce1826e6 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
@@ -61,6 +61,7 @@ context:: $(SCRIPTOUT)
 
 distclean::
 	$(call DELFILE, $(SCRIPTOUT))
+	$(call DELFILE, $(TOPDIR)/esp32_qemu_img.bin)
 
 DEPPATH += --dep-path board
 VPATH += :board
diff --git a/boards/xtensa/esp32/esp32-ethernet-kit/src/Make.defs b/boards/xtensa/esp32/esp32-ethernet-kit/src/Make.defs
index d51463d06d7..8f1f9c667da 100644
--- a/boards/xtensa/esp32/esp32-ethernet-kit/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-ethernet-kit/src/Make.defs
@@ -57,6 +57,7 @@ context:: $(SCRIPTOUT)
 
 distclean::
 	$(call DELFILE, $(SCRIPTOUT))
+	$(call DELFILE, $(TOPDIR)/esp32_qemu_img.bin)
 
 DEPPATH += --dep-path board
 VPATH += :board
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs b/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs
index 9afc25351b7..275c9060810 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs
@@ -67,6 +67,7 @@ context:: $(SCRIPTOUT)
 
 distclean::
 	$(call DELFILE, $(SCRIPTOUT))
+	$(call DELFILE, $(TOPDIR)/esp32_qemu_img.bin)
 
 DEPPATH += --dep-path board
 VPATH += :board