diff --git a/cpu/esp32/doc.txt b/cpu/esp32/doc.txt
index 5654cb4115..df7242d994 100644
--- a/cpu/esp32/doc.txt
+++ b/cpu/esp32/doc.txt
@@ -858,7 +858,7 @@ as DAC channels with the #dac_init function, they can be used for other
 purposes.
 
 DACs are currently only supported for the \ref esp32_dac_channels_esp32
-"ESP32 SoC" variant.
+"ESP32 SoC" and the \ref esp32_dac_channels_esp32s2 "ESP32-S2 SoC" variant.
 
 [Back to table of contents](#esp32_toc)
 
diff --git a/cpu/esp32/doc_esp32s2.txt b/cpu/esp32/doc_esp32s2.txt
index 7f874b7714..0a0d480ad6 100644
--- a/cpu/esp32/doc_esp32s2.txt
+++ b/cpu/esp32/doc_esp32s2.txt
@@ -91,8 +91,8 @@ GPIO13 | In/Out | X   | X    | X       | -                | -
 GPIO14 | In/Out | X   | X    | X       | -                | -
 GPIO15 | In/Out | X   | X    | X       | XTAL_32K_P       | External 32k crystal
 GPIO16 | In/Out | X   | X    | X       | XTAL_32K_N       | External 32k crystal
-GPIO17 | In/Out | X   | X    | X       | -                | -
-GPIO18 | In/Out | X   | X    | X       | -                | -
+GPIO17 | In/Out | X   | X    | X       | DAC1             | -
+GPIO18 | In/Out | X   | X    | X       | DAC2             | -
 GPIO19 | In/Out | X   | X    | X       | USB D-           | USB 2.0 OTG / USB-JTAG bridge
 GPIO20 | In/Out | X   | X    | X       | USB D+           | USB 2.0 OTG / USB-JTAG bridge
 GPIO21 | In/Out | -   | X    | X       | -                | -
@@ -174,6 +174,10 @@ total:
   that is at GPIO11 ... GPIO20.
 - GPIO3 is a strapping pin und shouldn't be used as ADC channel
 
+## DAC Channels {#esp32_dac_channels_esp32s2}
+
+ESP32 SoC supports 2 DAC lines at GPIO17 and GPIO18.
+
 ## I2C Interfaces {#esp32_i2c_interfaces_esp32s2}
 
 ESP32-S2 has two built-in I2C interfaces.