diff --git a/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig b/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig
index 9b919996ada..f841cd5ff57 100644
--- a/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig
+++ b/boards/xtensa/esp32s2_saola/esp32s2_saola_defconfig
@@ -18,6 +18,9 @@ CONFIG_XTENSA_USE_CORE_CRT1=n
 CONFIG_PINMUX=y
 CONFIG_PINMUX_ESP32=y
 
+CONFIG_GPIO=y
+CONFIG_GPIO_ESP32=y
+
 CONFIG_GEN_ISR_TABLES=y
 CONFIG_GEN_IRQ_VECTOR_TABLE=n
 
diff --git a/drivers/gpio/Kconfig.esp32 b/drivers/gpio/Kconfig.esp32
index b78f369f9e8..9ddeb6454d8 100644
--- a/drivers/gpio/Kconfig.esp32
+++ b/drivers/gpio/Kconfig.esp32
@@ -5,7 +5,7 @@
 
 menuconfig GPIO_ESP32
 	bool "ESP32 GPIO"
-	depends on SOC_ESP32
+	depends on SOC_ESP32 || SOC_ESP32S2
 	help
 	  Enables the ESP32 GPIO driver
 
diff --git a/dts/xtensa/espressif/esp32s2.dtsi b/dts/xtensa/espressif/esp32s2.dtsi
index 34ced10d19a..7bd19c46ee3 100644
--- a/dts/xtensa/espressif/esp32s2.dtsi
+++ b/dts/xtensa/espressif/esp32s2.dtsi
@@ -4,6 +4,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 #include <mem.h>
+#include <dt-bindings/gpio/gpio.h>
 #include <dt-bindings/interrupt-controller/esp32s2-xtensa-intmux.h>
 
 / {
@@ -52,6 +53,28 @@
 			compatible = "espressif,esp32-pinmux";
 			reg = <0x3f409000 0x94>;
 		};
+
+		gpio0: gpio@3f404000 {
+			compatible = "espressif,esp32-gpio";
+			gpio-controller;
+			#gpio-cells = <2>;
+			reg = <0x3f404000 0x800>;
+			interrupts = <GPIO_INTR_SOURCE>;
+			interrupt-parent = <&intc>;
+			label = "GPIO_0";
+			ngpios = <32>;   /* 0..31 */
+		};
+
+		gpio1: gpio@3f404800 {
+			compatible = "espressif,esp32-gpio";
+			gpio-controller;
+			#gpio-cells = <2>;
+			reg = <0x3f404800 0x800>;
+			interrupts = <GPIO_INTR_SOURCE>;
+			interrupt-parent = <&intc>;
+			label = "GPIO_1";
+			ngpios = <22>;   /* 32..53 */
+		};
 	};
 
 };
diff --git a/soc/xtensa/esp32s2/soc.h b/soc/xtensa/esp32s2/soc.h
index f7b7ea89a8f..58b5598317e 100644
--- a/soc/xtensa/esp32s2/soc.h
+++ b/soc/xtensa/esp32s2/soc.h
@@ -9,6 +9,7 @@
 #include <soc/syscon_reg.h>
 #include <soc/system_reg.h>
 #include <soc/dport_access.h>
+#include <soc/soc_caps.h>
 #include <esp32s2/rom/ets_sys.h>
 #include <esp32s2/rom/spi_flash.h>
 #include <esp32s2/rom/cache.h>