diff --git a/arch/risc-v/src/common/espressif/Kconfig b/arch/risc-v/src/common/espressif/Kconfig
index 41e4051c9c2..000c78794fb 100644
--- a/arch/risc-v/src/common/espressif/Kconfig
+++ b/arch/risc-v/src/common/espressif/Kconfig
@@ -682,6 +682,22 @@ config ESP_PCNT_TEST_MODE
 		to the receiver internally, being able to test the PCNT
 		peripheral without any external connection.
 
+config ESP_PCNT_HIGH_LIMIT
+	int "PCNT high limit value"
+	default 1024
+	range 1 32767
+	---help---
+		This sets thr_h_lim value for all units. When pulse_cnt reaches
+		this value, the counter will be cleared.
+
+config ESP_PCNT_LOW_LIMIT
+	int "PCNT low limit value"
+	default -1024
+	range -32768 -1
+	---help---
+		This sets thr_l_lim value for all units. When pulse_cnt reaches
+		this value, the counter will be cleared.
+
 config ESP_PCNT_AS_QE
 	bool
 	default n
diff --git a/arch/xtensa/src/common/espressif/Kconfig b/arch/xtensa/src/common/espressif/Kconfig
index f1e8906b73b..3f8768777d8 100644
--- a/arch/xtensa/src/common/espressif/Kconfig
+++ b/arch/xtensa/src/common/espressif/Kconfig
@@ -348,6 +348,22 @@ config ESP_PCNT_TEST_MODE
 		to the receiver internally, being able to test the PCNT
 		peripheral without any external connection.
 
+config ESP_PCNT_HIGH_LIMIT
+	int "PCNT high limit value"
+	default 1024
+	range 1 32767
+	---help---
+		This sets thr_h_lim value for all units. When pulse_cnt reaches
+		this value, the counter will be cleared.
+
+config ESP_PCNT_LOW_LIMIT
+	int "PCNT low limit value"
+	default -1024
+	range -32768 -1
+	---help---
+		This sets thr_l_lim value for all units. When pulse_cnt reaches
+		this value, the counter will be cleared.
+
 config ESP_PCNT_AS_QE
 	bool
 	default n
diff --git a/boards/risc-v/esp32c6/common/src/esp_board_pcnt.c b/boards/risc-v/esp32c6/common/src/esp_board_pcnt.c
index c8d50ae4b05..efba7286630 100644
--- a/boards/risc-v/esp32c6/common/src/esp_board_pcnt.c
+++ b/boards/risc-v/esp32c6/common/src/esp_board_pcnt.c
@@ -41,8 +41,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define PCNT_HIGH_LIMIT 1000
-#define PCNT_LOW_LIMIT  -1000
+#define PCNT_HIGH_LIMIT CONFIG_ESP_PCNT_HIGH_LIMIT
+#define PCNT_LOW_LIMIT  CONFIG_ESP_PCNT_LOW_LIMIT
 
 #define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt,          \
                                                          CAPIOC_FILTER, \
diff --git a/boards/risc-v/esp32h2/common/src/esp_board_pcnt.c b/boards/risc-v/esp32h2/common/src/esp_board_pcnt.c
index bfa56202086..283a3ced3e1 100644
--- a/boards/risc-v/esp32h2/common/src/esp_board_pcnt.c
+++ b/boards/risc-v/esp32h2/common/src/esp_board_pcnt.c
@@ -41,8 +41,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define PCNT_HIGH_LIMIT 1000
-#define PCNT_LOW_LIMIT  -1000
+#define PCNT_HIGH_LIMIT CONFIG_ESP_PCNT_HIGH_LIMIT
+#define PCNT_LOW_LIMIT  CONFIG_ESP_PCNT_LOW_LIMIT
 
 #define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt,          \
                                                          CAPIOC_FILTER, \
diff --git a/boards/xtensa/esp32/common/src/esp32_board_pcnt.c b/boards/xtensa/esp32/common/src/esp32_board_pcnt.c
index 018d23216e1..778ed99157a 100644
--- a/boards/xtensa/esp32/common/src/esp32_board_pcnt.c
+++ b/boards/xtensa/esp32/common/src/esp32_board_pcnt.c
@@ -40,8 +40,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define PCNT_HIGH_LIMIT 1000
-#define PCNT_LOW_LIMIT  -1000
+#define PCNT_HIGH_LIMIT CONFIG_ESP_PCNT_HIGH_LIMIT
+#define PCNT_LOW_LIMIT  CONFIG_ESP_PCNT_LOW_LIMIT
 
 #define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt,          \
                                                          CAPIOC_FILTER, \
diff --git a/boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c b/boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c
index cbd7c49b782..b02fb0c7c9b 100644
--- a/boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c
+++ b/boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c
@@ -40,8 +40,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define PCNT_HIGH_LIMIT 1000
-#define PCNT_LOW_LIMIT  -1000
+#define PCNT_HIGH_LIMIT CONFIG_ESP_PCNT_HIGH_LIMIT
+#define PCNT_LOW_LIMIT  CONFIG_ESP_PCNT_LOW_LIMIT
 
 #define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt,          \
                                                          CAPIOC_FILTER, \
diff --git a/boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c b/boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c
index 47621db8e4c..f1a22773828 100644
--- a/boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c
+++ b/boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c
@@ -40,8 +40,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define PCNT_HIGH_LIMIT 1000
-#define PCNT_LOW_LIMIT  -1000
+#define PCNT_HIGH_LIMIT CONFIG_ESP_PCNT_HIGH_LIMIT
+#define PCNT_LOW_LIMIT  CONFIG_ESP_PCNT_LOW_LIMIT
 
 #define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt,          \
                                                          CAPIOC_FILTER, \