diff --git a/arch/xtensa/src/esp32/Kconfig b/arch/xtensa/src/esp32/Kconfig
index 46c734f358f..87305f420f1 100644
--- a/arch/xtensa/src/esp32/Kconfig
+++ b/arch/xtensa/src/esp32/Kconfig
@@ -5,6 +5,131 @@
 
 if ARCH_CHIP_ESP32
 
+comment "ESP32 Configuration Options"
+
+choice
+	prompt "ESP32 Chip Selection"
+	default ARCH_CHIP_ESP32WROVER
+	depends on ARCH_CHIP_ESP32
+
+config ARCH_CHIP_ESP32S0WD
+	bool "ESP32-S0WD"
+	select ESP32_ESP32SXWDXX
+	---help---
+		ESP32 chip with a single Xtensa LX6 core, no embedded Flash memory
+
+config ARCH_CHIP_ESP32D0WD
+	bool "ESP32-D0WD"
+	select ESP32_ESP32DXWDXX
+	---help---
+		ESP32 chip with a dual Xtensa LX6 core, no embedded Flash memory
+
+config ARCH_CHIP_ESP32D2WD
+	bool "ESP32-D2WD"
+	select ESP32_ESP32DXWDXX
+	select ESP32_FLASH_2M
+	---help---
+		ESP32 chip with a dual Xtensa LX6 core, 2 MB of in-package Flash memory
+
+config ARCH_CHIP_ESP32U4WD
+	bool "ESP32-U4WD"
+	select ESP32_ESP32UXWDXX
+	select ESP32_FLASH_4M
+	---help---
+		ESP32 chip with a single Xtensa LX6 core, 4 MB of in-package Flash memory
+
+config ARCH_CHIP_ESP32WROOM32
+	bool "ESP32-WROOM-32"
+	select ESP32_ESP32DXWDXX
+	select ESP32_FLASH_4M
+	---help---
+		Generic module with an embedded ESP32-D0WD chip, 4 MB of Flash memory
+
+config ARCH_CHIP_ESP32WROOM32_8MB
+	bool "ESP32-WROOM-32 (8MB)"
+	select ESP32_ESP32DXWDXX
+	select ESP32_FLASH_8M
+	---help---
+		Generic module with an embedded ESP32-D0WD chip, 8 MB of Flash memory
+
+config ARCH_CHIP_ESP32WROOM32_16MB
+	bool "ESP32-WROOM-32 (16MB)"
+	select ESP32_ESP32DXWDXX
+	select ESP32_FLASH_16M
+	---help---
+		Generic module with an embedded ESP32-D0WD chip, 16 MB of Flash memory
+
+config ARCH_CHIP_ESP32WROVER
+	bool "ESP32-WROVER"
+	select ESP32_ESP32DXWDXX
+	select ESP32_FLASH_4M
+	select ESP32_PSRAM_8M
+	---help---
+		Generic module with an embedded ESP32-D0WD chip, 4 MB of Flash memory,
+		8 MB of PSRAM
+
+config ARCH_CHIP_ESP32MINI1
+	bool "ESP32-MINI-1"
+	select ESP32_ESP32UXWDXX
+	select ESP32_FLASH_4M
+	---help---
+		Generic module with an embedded ESP32-U4WD chip
+
+config ARCH_CHIP_ESP32SOLO1
+	bool "ESP32-SOLO-1"
+	select ESP32_ESP32SXWDXX
+	select ESP32_FLASH_4M
+	---help---
+		Generic module with an embedded ESP32-S0WD chip, 4 MB of Flash memory
+
+endchoice # ESP32 Chip Selection
+
+comment "Selected ESP32 chip without embedded Flash, an external Flash memory is required."
+	depends on ARCH_CHIP_ESP32S0WD || ARCH_CHIP_ESP32D0WD
+
+config ESP32_SINGLE_CPU
+	bool
+	default n
+
+config ESP32_DUAL_CPU
+	bool
+	default n
+
+config ESP32_FLASH_2M
+	bool
+	default n
+
+config ESP32_FLASH_4M
+	bool
+	default n
+
+config ESP32_FLASH_8M
+	bool
+	default n
+
+config ESP32_FLASH_16M
+	bool
+	default n
+
+config ESP32_PSRAM_8M
+	bool
+	default n
+
+config ESP32_ESP32SXWDXX
+	bool
+	default n
+	select ESP32_SINGLE_CPU
+
+config ESP32_ESP32UXWDXX
+	bool
+	default n
+	select ESP32_SINGLE_CPU
+
+config ESP32_ESP32DXWDXX
+	bool
+	default n
+	select ESP32_DUAL_CPU
+
 choice ESP32_DEFAULT_CPU_FREQ
 	prompt "CPU frequency"
 	default ESP32_DEFAULT_CPU_FREQ_240
diff --git a/boards/Kconfig b/boards/Kconfig
index f23383836ca..4719c0154a9 100644
--- a/boards/Kconfig
+++ b/boards/Kconfig
@@ -197,7 +197,7 @@ config ARCH_BOARD_QUICKFEATHER
 
 config ARCH_BOARD_ESP32_DEVKITC
 	bool "Espressif ESP32 DevkitC board V4"
-	depends on ARCH_CHIP_ESP32
+	depends on ARCH_CHIP_ESP32WROOM32 || ARCH_CHIP_ESP32WROOM32_8MB || ARCH_CHIP_ESP32WROOM32_16MB || ARCH_CHIP_ESP32WROVER || ARCH_CHIP_ESP32SOLO1
 	select ARCH_HAVE_LEDS
 	---help---
 		The ESP32 is a dual-core system from Espressif with two Harvard
@@ -209,7 +209,7 @@ config ARCH_BOARD_ESP32_DEVKITC
 
 config ARCH_BOARD_ESP32_ETHERNETKIT
 	bool "Espressif ESP32 Ethernet Kit"
-	depends on ARCH_CHIP_ESP32
+	depends on ARCH_CHIP_ESP32WROVER
 	---help---
 		The ESP32-Ethernet-Kit is an Ethernet-to-Wi-Fi development board that enables
   		Ethernet devices to be interconnected over Wi-Fi. At the same time, to provide
@@ -218,7 +218,7 @@ config ARCH_BOARD_ESP32_ETHERNETKIT
 
 config ARCH_BOARD_ESP32_WROVERKIT
 	bool "Espressif ESP-WROVER-KIT"
-	depends on ARCH_CHIP_ESP32
+	depends on ARCH_CHIP_ESP32WROVER
 	select ARCH_HAVE_LEDS
 	---help---
 		ESP-WROVER-KIT is an ESP32-based development board produced by Espressif.
diff --git a/tools/esp32/Config.mk b/tools/esp32/Config.mk
index d9ab5fcae78..76a0b070ff9 100644
--- a/tools/esp32/Config.mk
+++ b/tools/esp32/Config.mk
@@ -32,6 +32,16 @@ else
 	PARTITION_TABLE=$(IDF_PATH)/hello_world/build/partition_table/partition-table.bin
 endif
 
+ifeq ($(CONFIG_ESP32_FLASH_2M),y)
+	FLASH_SIZE="2MB"
+else ifeq ($(CONFIG_ESP32_FLASH_4M),y)
+	FLASH_SIZE="4MB"
+else ifeq ($(CONFIG_ESP32_FLASH_8M),y)
+	FLASH_SIZE="8MB"
+else ifeq ($(CONFIG_ESP32_FLASH_16M),y)
+	FLASH_SIZE="16MB"
+endif
+
 ifeq ($(CONFIG_ESP32_QEMU_IMAGE),y)
 	MK_QEMU_IMG=$(TOPDIR)/tools/esp32/mk_qemu_img.sh $(BOOTLOADER) $(PARTITION_TABLE)
 else
@@ -39,16 +49,20 @@ else
 endif
 
 define POSTBUILD
-	$(Q)echo "MKIMAGE: ESP32 binary"
+	$(Q) echo "MKIMAGE: ESP32 binary"
 	$(Q) if ! esptool.py version 1>/dev/null 2>&1; then \
 		echo ""; \
 		echo "esptool.py not found.  Please run: \"pip install esptool.py\""; \
-		echo "Or run: \"make -C tools/esp32\" to install all IDF tools."; \
+		echo "Or run: \"make -C $(TOPDIR)/tools/esp32\" to install all IDF tools."; \
 		echo ""; \
 		echo "Run make again to create the nuttx.bin image."; \
 	else \
-		esptool.py --chip esp32 elf2image --flash_mode dio --flash_size 4MB -o nuttx.bin nuttx; \
+		if [ -z $(FLASH_SIZE) ]; then \
+			echo "Missing Flash memory size configuration for the ESP32 chip."; \
+			exit 1; \
+		fi; \
+		esptool.py --chip esp32 elf2image --flash_mode dio --flash_size $(FLASH_SIZE) -o nuttx.bin nuttx; \
 		echo "Generated: nuttx.bin (ESP32 compatible)"; \
 	fi
-	$(MK_QEMU_IMG)
+	$(Q) $(MK_QEMU_IMG)
 endef