diff --git a/boards/xtensa/esp32/esp32-devkitc/configs/pwm/defconfig b/boards/xtensa/esp32/esp32-devkitc/configs/pwm/defconfig
new file mode 100644
index 00000000000..0a620e4b350
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-devkitc/configs/pwm/defconfig
@@ -0,0 +1,55 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_CMDPARMS is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32-devkitc"
+CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROVER=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_ESP32_LEDC=y
+CONFIG_ESP32_LEDC_CHANNEL0_PIN=12
+CONFIG_ESP32_LEDC_CHANNEL1_PIN=13
+CONFIG_ESP32_LEDC_CHANNEL2_PIN=14
+CONFIG_ESP32_LEDC_CHANNEL3_PIN=15
+CONFIG_ESP32_LEDC_TIM0=y
+CONFIG_ESP32_LEDC_TIM1=y
+CONFIG_ESP32_UART0=y
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_PWM_FREQUENCY=10000
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MM_REGIONS=3
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
index 9400680ddca..dcc7c6b43cb 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
@@ -39,6 +39,10 @@ ifeq ($(CONFIG_DEV_GPIO),y)
 CSRCS += esp32_gpio.c
 endif
 
+ifeq ($(CONFIG_PWM),y)
+CSRCS += esp32_ledc.c
+endif
+
 ifeq ($(CONFIG_USERLED),y)
 CSRCS += esp32_userleds.c
 endif
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h b/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
index ed5055654a7..2640f5a01d0 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
@@ -109,6 +109,18 @@ int esp32_mmcsd_initialize(int minor);
 int esp32_gpio_init(void);
 #endif
 
+/****************************************************************************
+ * Name: esp32_ledc_setup
+ *
+ * Description:
+ *   Initialize LEDC PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_LEDC
+int esp32_pwm_setup(void);
+#endif
+
 /****************************************************************************
  * Name: board_spidev_initialize
  *
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
index b14cab07cc4..393e9025632 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
@@ -223,6 +223,14 @@ int esp32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_ESP32_LEDC
+  ret = esp32_pwm_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: esp32_pwm_setup() failed: %d\n", ret);
+    }
+#endif /* CONFIG_ESP32_LEDC */
+
 #ifdef CONFIG_ESP32_RT_TIMER
   ret = esp32_rt_timer_init();
   if (ret < 0)
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_ledc.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_ledc.c
new file mode 100644
index 00000000000..ed858387004
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_ledc.c
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32-devkitc/src/esp32_ledc.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/timers/pwm.h>
+
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "esp32_ledc.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_pwm_setup
+ *
+ * Description:
+ *   Initialize LEDC PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+int esp32_pwm_setup(void)
+{
+  int ret;
+  struct pwm_lowerhalf_s *pwm;
+
+#ifdef CONFIG_ESP32_LEDC_TIM0
+  pwm = esp32_ledc_init(0);
+  if (!pwm)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to get the LEDC PWM 0 lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm0" */
+
+  ret = pwm_register("/dev/pwm0", pwm);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP32_LEDC_TIM1
+  pwm = esp32_ledc_init(1);
+  if (!pwm)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to get the LEDC PWM 1 lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm1" */
+
+  ret = pwm_register("/dev/pwm1", pwm);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP32_LEDC_TIM2
+  pwm = esp32_ledc_init(2);
+  if (!pwm)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to get the LEDC PWM 2 lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm2" */
+
+  ret = pwm_register("/dev/pwm2", pwm);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP32_LEDC_TIM3
+  pwm = esp32_ledc_init(3);
+  if (!pwm)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to get the LEDC PWM 3 lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm3" */
+
+  ret = pwm_register("/dev/pwm3", pwm);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  return OK;
+}
+