diff --git a/boards/z80/ez80/z20x/src/w25_main.c b/boards/z80/ez80/z20x/src/w25_main.c
index 138b28a5a0e..fbd19d9d0f7 100644
--- a/boards/z80/ez80/z20x/src/w25_main.c
+++ b/boards/z80/ez80/z20x/src/w25_main.c
@@ -545,7 +545,6 @@ static int w25_boot_program(void)
       return ret;
     }
 
-#ifdef CONFIG_SERIAL_TERMIOS
   /* Drain all pending Tx output in stdout. "Booting..." message will be
    * lost if the outgoing Tx bytes are not drained.
    */
@@ -557,7 +556,6 @@ static int w25_boot_program(void)
       fprintf(stderr, "ERROR: tcdrain() failed: %d\n", ret);
       return ret;
     }
-#endif
 
   /* Start the successfully loaded program */
 
diff --git a/drivers/sensors/wtgahrs2.c b/drivers/sensors/wtgahrs2.c
index 8b349fea448..84ce9ef9b88 100644
--- a/drivers/sensors/wtgahrs2.c
+++ b/drivers/sensors/wtgahrs2.c
@@ -433,9 +433,7 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
 {
   FAR struct wtgahrs2_dev_s *rtdata;
   FAR struct wtgahrs2_sensor_s *tmp;
-#ifdef CONFIG_SERIAL_TERMIOS
   struct termios opt;
-#endif
   FAR char *argv[2];
   char arg1[16];
   int ret;
@@ -462,14 +460,16 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
       goto open_err;
     }
 
-#ifdef CONFIG_SERIAL_TERMIOS
   file_ioctl(&rtdata->file, TCGETS, &opt);
   cfmakeraw(&opt);
+
+#ifdef CONFIG_SERIAL_TERMIOS
   cfsetispeed(&opt, B115200);
   cfsetospeed(&opt, B115200);
-  file_ioctl(&rtdata->file, TCSETS, &opt);
 #endif
 
+  file_ioctl(&rtdata->file, TCSETS, &opt);
+
   /* Accelerometer register */
 
   tmp = &rtdata->dev[WTGAHRS2_ACCEL_IDX];
diff --git a/drivers/serial/Kconfig b/drivers/serial/Kconfig
index b22bac4df73..421c2514bea 100644
--- a/drivers/serial/Kconfig
+++ b/drivers/serial/Kconfig
@@ -169,9 +169,10 @@ config SERIAL_TERMIOS
 	depends on ARCH_HAVE_SERIAL_TERMIOS
 	default n
 	---help---
-		Serial driver supports termios.h interfaces (tcsetattr, tcflush, etc.).
-		If this is not defined, then the terminal settings (baud, parity, etc).
-		are not configurable at runtime; serial streams cannot be flushed, etc..
+		If this is not defined, then the terminal hardware setting
+		(baud, parity, flow control) is not configurable at runtime.
+		Note: other software setting (echo, \r\n<->\n, break, tcflush)
+		is always supported.
 
 config TTY_LAUNCH
 	bool "Enable feature TTY launch program"
diff --git a/drivers/serial/pty.c b/drivers/serial/pty.c
index 89c76409699..bd869e4415a 100644
--- a/drivers/serial/pty.c
+++ b/drivers/serial/pty.c
@@ -73,9 +73,7 @@ struct pty_dev_s
   struct file pd_src;           /* Provides data to read() method (pipe output) */
   struct file pd_sink;          /* Accepts data from write() method (pipe input) */
   bool pd_master;               /* True: this is the master */
-#ifdef CONFIG_SERIAL_TERMIOS
   tcflag_t pd_iflag;            /* Terminal input modes */
-#endif
   tcflag_t pd_oflag;            /* Terminal output modes */
   struct pty_poll_s pd_poll[CONFIG_DEV_PTY_NPOLLWAITERS];
 };
@@ -394,18 +392,15 @@ static ssize_t pty_read(FAR struct file *filep, FAR char *buffer, size_t len)
   FAR struct inode *inode;
   FAR struct pty_dev_s *dev;
   ssize_t ntotal;
-#ifdef CONFIG_SERIAL_TERMIOS
   ssize_t i;
   ssize_t j;
   char ch;
-#endif
 
   DEBUGASSERT(filep != NULL && filep->f_inode != NULL);
   inode = filep->f_inode;
   dev   = inode->i_private;
   DEBUGASSERT(dev != NULL);
 
-#ifdef CONFIG_SERIAL_TERMIOS
   /* Do input processing if any is enabled
    *
    * Specifically not handled:
@@ -460,7 +455,6 @@ static ssize_t pty_read(FAR struct file *filep, FAR char *buffer, size_t len)
         }
     }
   else
-#endif
     {
       /* NOTE: the source pipe will block if no data is available in
        * the pipe.   Otherwise, it will return data from the pipe.  If
@@ -681,7 +675,6 @@ static int pty_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
         }
         break;
 
-#ifdef CONFIG_SERIAL_TERMIOS
       case TCGETS:
         {
           FAR struct termios *termiosp = (FAR struct termios *)arg;
@@ -718,7 +711,6 @@ static int pty_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
           ret = OK;
         }
         break;
-#endif
 
       /* Get the number of bytes that are immediately available for reading
        * from the source pipe.
diff --git a/drivers/serial/serial.c b/drivers/serial/serial.c
index 2a24f5dac39..dea33b0a796 100644
--- a/drivers/serial/serial.c
+++ b/drivers/serial/serial.c
@@ -315,7 +315,6 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev,
     {
       int ch = *buffer++;
 
-#ifdef CONFIG_SERIAL_TERMIOS
       /* Do output post-processing */
 
       if ((dev->tc_oflag & OPOST) != 0)
@@ -335,15 +334,6 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev,
             }
         }
 
-#else /* !CONFIG_SERIAL_TERMIOS */
-      /* If this is the console, then we should replace LF with CR-LF */
-
-      if (dev->isconsole && ch == '\n')
-        {
-          uart_putc(dev, '\r');
-        }
-#endif
-
       /* Output the character, using the low-level direct UART interfaces */
 
       uart_putc(dev, ch);
@@ -847,7 +837,6 @@ static ssize_t uart_read(FAR struct file *filep,
 
           rxbuf->tail = tail;
 
-#ifdef CONFIG_SERIAL_TERMIOS
           /* Do input processing if any is enabled */
 
           if (dev->tc_iflag & (INLCR | IGNCR | ICRNL))
@@ -879,25 +868,13 @@ static ssize_t uart_read(FAR struct file *filep,
            * IUCLC - Not Posix
            * IXON/OXOFF - no xon/xoff flow control.
            */
-#else
-          if (dev->isconsole && ch == '\r')
-            {
-              ch = '\n';
-            }
-#endif
 
           /* Store the received character */
 
           *buffer++ = ch;
           recvd++;
 
-          if (
-#ifdef CONFIG_SERIAL_TERMIOS
-              dev->tc_lflag & ECHO
-#else
-              dev->isconsole
-#endif
-             )
+          if (dev->tc_lflag & ECHO)
             {
               /* Check for the beginning of a VT100 escape sequence, 3 byte */
 
@@ -1271,7 +1248,6 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer,
       ch  = *buffer++;
       ret = OK;
 
-#ifdef CONFIG_SERIAL_TERMIOS
       /* Do output post-processing */
 
       if ((dev->tc_oflag & OPOST) != 0)
@@ -1299,15 +1275,6 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer,
            */
         }
 
-#else /* !CONFIG_SERIAL_TERMIOS */
-      /* If this is the console, convert \n -> \r\n */
-
-      if (dev->isconsole && ch == '\n')
-        {
-          ret = uart_putxmitchar(dev, '\r', oktoblock);
-        }
-#endif
-
       /* Put the character into the transmit buffer */
 
       if (ret >= 0)
@@ -1550,7 +1517,6 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
         }
     }
 
-#ifdef CONFIG_SERIAL_TERMIOS
   /* Append any higher level TTY flags */
 
   if (ret == OK || ret == -ENOTTY)
@@ -1599,7 +1565,6 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
             break;
         }
     }
-#endif
 
   return ret;
 }
@@ -1817,7 +1782,6 @@ int uart_register(FAR const char *path, FAR uart_dev_t *dev)
   dev->pid = INVALID_PROCESS_ID;
 #endif
 
-#ifdef CONFIG_SERIAL_TERMIOS
   /* If this UART is a serial console */
 
   if (dev->isconsole)
@@ -1838,7 +1802,6 @@ int uart_register(FAR const char *path, FAR uart_dev_t *dev)
 
       dev->escape = 0;
     }
-#endif
 
   /* Initialize mutex & semaphores */
 
@@ -2031,11 +1994,7 @@ int uart_check_special(FAR uart_dev_t *dev, const char *buf, size_t size)
 {
   size_t i;
 
-#ifdef CONFIG_SERIAL_TERMIOS
   if ((dev->tc_lflag & ISIG) == 0)
-#else
-  if (!dev->isconsole)
-#endif
     {
       return 0;
     }
diff --git a/include/nuttx/serial/serial.h b/include/nuttx/serial/serial.h
index e1a094d0d3d..e784a9257fa 100644
--- a/include/nuttx/serial/serial.h
+++ b/include/nuttx/serial/serial.h
@@ -284,13 +284,11 @@ struct uart_dev_s
   pid_t                pid;          /* Thread PID to receive signals (-1 if none) */
 #endif
 
-#ifdef CONFIG_SERIAL_TERMIOS
   /* Terminal control flags */
 
   tcflag_t             tc_iflag;     /* Input modes */
   tcflag_t             tc_oflag;     /* Output modes */
   tcflag_t             tc_lflag;     /* Local modes */
-#endif
 
   /* Semaphores & mutex */
 
diff --git a/include/pty.h b/include/pty.h
index bf8577690ac..2844d4d3eba 100644
--- a/include/pty.h
+++ b/include/pty.h
@@ -31,7 +31,7 @@
 #include <termios.h>
 #include <sys/ioctl.h>
 
-#if defined(CONFIG_SERIAL_TERMIOS) && defined(CONFIG_PSEUDOTERM)
+#ifdef CONFIG_PSEUDOTERM
 
 /****************************************************************************
  * Public Function Prototypes
@@ -59,5 +59,5 @@ int openpty(FAR int *master, FAR int *slave, FAR char *name,
 }
 #endif
 
-#endif /* CONFIG_SERIAL_TERMIOS && CONFIG_PSEUDOTERM */
+#endif /* CONFIG_PSEUDOTERM */
 #endif /* __INCLUDE_PTY_H */
diff --git a/libs/libc/libc.csv b/libs/libc/libc.csv
index 5059f905cb5..f2ebdbe7b8c 100644
--- a/libs/libc/libc.csv
+++ b/libs/libc/libc.csv
@@ -25,8 +25,8 @@
 "basename","libgen.h","","FAR char *","FAR char *"
 "btowc","wchar.h","","wint_t","int"
 "calloc","stdlib.h","","FAR void *","size_t","size_t"
-"cfgetspeed","termios.h","defined(CONFIG_SERIAL_TERMIOS)","speed_t","FAR const struct termios *"
-"cfsetspeed","termios.h","defined(CONFIG_SERIAL_TERMIOS)","int","FAR struct termios *","speed_t"
+"cfgetspeed","termios.h","","speed_t","FAR const struct termios *"
+"cfsetspeed","termios.h","","int","FAR struct termios *","speed_t"
 "chdir","unistd.h","!defined(CONFIG_DISABLE_ENVIRON)","int","FAR const char *"
 "clock","time.h","","clock_t"
 "crc32","nuttx/crc32.h","","uint32_t","FAR const uint8_t *","size_t"
@@ -256,9 +256,9 @@
 "swab","unistd.h","","void","FAR const void *","FAR void *","ssize_t"
 "swprintf","wchar.h","","int","FAR wchar_t *","size_t","FAR const wchar_t *","..."
 "syslog","syslog.h","","void","int","FAR const IPTR char *","..."
-"tcflush","termios.h","defined(CONFIG_SERIAL_TERMIOS)","int","int","int"
-"tcgetattr","termios.h","defined(CONFIG_SERIAL_TERMIOS)","int","int","FAR struct termios *"
-"tcsetattr","termios.h","defined(CONFIG_SERIAL_TERMIOS)","int","int","int","FAR const struct termios *"
+"tcflush","termios.h","","int","int","int"
+"tcgetattr","termios.h","","int","int","FAR struct termios *"
+"tcsetattr","termios.h","","int","int","int","FAR const struct termios *"
 "telldir","dirent.h","","off_t","FAR DIR *"
 "time","time.h","","time_t","FAR time_t *"
 "tolower","ctype.h","","int","int"
diff --git a/libs/libc/termios/Make.defs b/libs/libc/termios/Make.defs
index 7e1217c6640..fcb1dc7f33a 100644
--- a/libs/libc/termios/Make.defs
+++ b/libs/libc/termios/Make.defs
@@ -18,9 +18,6 @@
 #
 ############################################################################
 
-# termios.h support requires file descriptors and that CONFIG_SERIAL_TERMIOS
-# is defined
-
 # Add the termios C files to the build
 
 CSRCS += lib_cfspeed.c lib_cfmakeraw.c lib_isatty.c lib_tcflush.c
diff --git a/libs/libc/termios/lib_cfmakeraw.c b/libs/libc/termios/lib_cfmakeraw.c
index faad8803056..ea84d4632d8 100644
--- a/libs/libc/termios/lib_cfmakeraw.c
+++ b/libs/libc/termios/lib_cfmakeraw.c
@@ -50,6 +50,8 @@ void cfmakeraw(FAR struct termios *termiosp)
                          | INLCR | IGNCR | ICRNL | IXON);
   termiosp->c_oflag &= ~OPOST;
   termiosp->c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+#ifdef CONFIG_SERIAL_TERMIOS
   termiosp->c_cflag &= ~(CSIZE | PARENB);
   termiosp->c_cflag |= CS8;
+#endif
 }
diff --git a/libs/libc/termios/lib_isatty.c b/libs/libc/termios/lib_isatty.c
index 6dffb3e4858..b3b236c2483 100644
--- a/libs/libc/termios/lib_isatty.c
+++ b/libs/libc/termios/lib_isatty.c
@@ -46,8 +46,6 @@
  *   responds wo tcgetattr() without an error -- that it, the driver supports
  *   the NuttX TCGETS ioctl command.
  *
- *   Of course, that can only be true if CONFIG_SERIAL_TERMIOS=y.
- *
  ****************************************************************************/
 
 int isatty(int fd)