diff --git a/drivers/timer/Kconfig.esp32 b/drivers/timer/Kconfig.esp32
index 4dd289287e2..304ad1271b7 100644
--- a/drivers/timer/Kconfig.esp32
+++ b/drivers/timer/Kconfig.esp32
@@ -5,7 +5,7 @@
 
 config ESP32_SYS_TIMER
 	bool "ESP32 sys-timer support (ESP32Cx series)"
-	depends on SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32C6
+	depends on SOC_SERIES_ESP32C2 || SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32C6
 	default y
 	select TICKLESS_CAPABLE
 	select TIMER_HAS_64BIT_CYCLE_COUNTER