diff --git a/cpu/esp_common/Kconfig b/cpu/esp_common/Kconfig
index b0dc7df141..3359c8644c 100644
--- a/cpu/esp_common/Kconfig
+++ b/cpu/esp_common/Kconfig
@@ -59,3 +59,47 @@ config HAS_ARCH_ESP
 ## Common CPU symbols
 config CPU_ARCH
     default "xtensa" if CPU_ARCH_XTENSA
+
+config MODULE_ESP_COMMON
+    bool
+    depends on TEST_KCONFIG
+    depends on CPU_COMMON_ESP
+    default y
+    select MODULE_LOG # override default log implementation by default
+    select MODULE_PERIPH
+    select MODULE_ESP_IDF
+    help
+      Common code module for ESP SoCs.
+
+config MODULE_PERIPH_FLASH
+    bool
+    depends on TEST_KCONFIG
+    depends on CPU_COMMON_ESP
+    default y if MODULE_MTD
+    help
+        Low-level MTD flash driver implementation for ESP SoCs.
+
+if TEST_KCONFIG
+
+menu "ESP configurations"
+
+config MODULE_ESP_LOG_COLORED
+    bool
+    default y if MODULE_LOG_COLOR
+
+config MODULE_ESP_LOG_TAGGED
+    bool "Add additional information to the log output"
+    help
+        Adds the type of the message, the system time in ms and a tag (module
+        or function) to the output.
+
+config MODULE_ESP_LOG_STARTUP
+    bool "Add additional startup information to the log output"
+
+endmenu
+
+endif # TEST_KCONFIG
+
+rsource "freertos/Kconfig"
+rsource "periph/Kconfig"
+rsource "vendor/xtensa/Kconfig"
diff --git a/cpu/esp_common/Makefile.features b/cpu/esp_common/Makefile.features
index efb55a6e10..9e1858dc87 100644
--- a/cpu/esp_common/Makefile.features
+++ b/cpu/esp_common/Makefile.features
@@ -19,3 +19,9 @@ FEATURES_PROVIDED += ssp
 
 FEATURES_CONFLICT += esp_wifi_ap:esp_now
 FEATURES_CONFLICT_MSG += "ESP_NOW and ESP_WIFI_AP can not be used at the same time."
+
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTCPU)/esp_common/esp_common.config
+endif
diff --git a/cpu/esp_common/esp_common.config b/cpu/esp_common/esp_common.config
new file mode 100644
index 0000000000..1914c406e8
--- /dev/null
+++ b/cpu/esp_common/esp_common.config
@@ -0,0 +1,11 @@
+CONFIG_MODULE_RANDOM=y
+# Should be autoselecting the MODULE_PRNG_HWRNG if possible
+# Since the makefile cannot we have to override until end of migration
+# Remove when TEST_KCONFIG is complete
+CONFIG_MODULE_PRNG_MUSL_LCG=y
+CONFIG_MODULE_PERIPH_HWRNG=y
+CONFIG_MODULE_PERIPH_UART=y
+CONFIG_MODULE_NEWLIB=y
+
+# Vendor code uses C++
+CONFIG_MODULE_CPP=y
diff --git a/cpu/esp_common/freertos/Kconfig b/cpu/esp_common/freertos/Kconfig
new file mode 100644
index 0000000000..fabedae262
--- /dev/null
+++ b/cpu/esp_common/freertos/Kconfig
@@ -0,0 +1,20 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+if TEST_KCONFIG && HAS_ARCH_ESP
+
+config MODULE_ESP_FREERTOS
+    bool
+    default y
+    help
+      FreeRTOS to RIOT-OS adaption module for ESP SoCs source code compatibility.
+
+config MODULE_ESP_FREERTOS_COMMON
+    bool
+    default MODULE_ESP_FREERTOS
+
+endif # TEST_KCONFIG && HAS_ARCH_ESP
diff --git a/cpu/esp_common/periph/Kconfig b/cpu/esp_common/periph/Kconfig
new file mode 100644
index 0000000000..5b9cd63d11
--- /dev/null
+++ b/cpu/esp_common/periph/Kconfig
@@ -0,0 +1,20 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+if TEST_KCONFIG
+
+config MODULE_ESP_COMMON_PERIPH
+    bool
+    depends on HAS_ARCH_ESP
+    default y
+
+config MODULE_PERIPH_I2C_SW
+    bool
+    help
+      Software implementation of I2C.
+
+endif # TEST_KCONFIG
diff --git a/cpu/esp_common/vendor/xtensa/Kconfig b/cpu/esp_common/vendor/xtensa/Kconfig
new file mode 100644
index 0000000000..0234d0fc33
--- /dev/null
+++ b/cpu/esp_common/vendor/xtensa/Kconfig
@@ -0,0 +1,15 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_XTENSA
+    bool
+    depends on TEST_KCONFIG
+    depends on HAS_ARCH_ESP
+    default y
+    help
+        Third-party software components used by the RIOT port for ESP32 and
+        ESP8266.