diff --git a/cpu/esp32/Kconfig b/cpu/esp32/Kconfig
index 11016679ea..84027323f1 100644
--- a/cpu/esp32/Kconfig
+++ b/cpu/esp32/Kconfig
@@ -16,6 +16,17 @@ config HAS_CPU_ESP32
     help
         Indicates that the current CPU belongs to the ESP32x SoC series.
 
+config HAS_ESP_BLE
+    bool
+    help
+        Indicates that the used ESP32x SoC supports Bluetooth LE.
+
+config HAS_ESP_BLE_ESP32
+    bool
+    help
+        Indicates that the ESP32x SoC uses the SDK Bluetooth LE library
+        for the ESP32 variant.
+
 config HAS_ESP_HW_COUNTER
     bool
     help
diff --git a/cpu/esp32/Kconfig.common b/cpu/esp32/Kconfig.common
index 9f8b47e1b1..cd4ab2448d 100644
--- a/cpu/esp32/Kconfig.common
+++ b/cpu/esp32/Kconfig.common
@@ -9,6 +9,13 @@ if TEST_KCONFIG && HAS_ARCH_ESP32
 
 # define configuration menu entries that common for all ESP32x SoC variants
 
+config MODULE_ESP_BLE
+    bool "Enable Bluetooth LE interface"
+    depends on HAS_ESP_BLE
+    select MODULE_ESP_IDF_BLE
+    select PACKAGE_ESP32_SDK_LIB_PHY
+    select PACKAGE_ESP32_SDK_LIB_BT_ESP32 if HAS_ESP_BLE_ESP32
+
 config MODULE_ESP_JTAG
     bool "Enable JTAG debugging interface"
     depends on HAS_ESP_JTAG
diff --git a/cpu/esp32/Kconfig.esp32 b/cpu/esp32/Kconfig.esp32
index d5cb48c052..de478800db 100644
--- a/cpu/esp32/Kconfig.esp32
+++ b/cpu/esp32/Kconfig.esp32
@@ -18,6 +18,8 @@ config CPU_FAM_ESP32
     select CPU_CORE_XTENSA_LX6
     select HAS_ARCH_ESP32
     select HAS_CPU_ESP32
+    select HAS_ESP_BLE
+    select HAS_ESP_BLE_ESP32
     select HAS_ESP_HW_COUNTER
     select HAS_ESP_WIFI_ENTERPRISE
     select HAS_PUF_SRAM
diff --git a/cpu/esp32/Makefile.dep b/cpu/esp32/Makefile.dep
index be2049fb1c..8435b4ddd5 100644
--- a/cpu/esp32/Makefile.dep
+++ b/cpu/esp32/Makefile.dep
@@ -17,6 +17,17 @@ ifneq (,$(filter cpp,$(USEMODULE)))
   USEMODULE += pthread
 endif
 
+ifneq (,$(filter esp_ble,$(USEMODULE)))
+  # add additional modules and packages used for any BLE interface
+  FEATURES_REQUIRED += esp_ble
+  USEMODULE += esp_idf_ble
+  USEPKG += esp32_sdk_lib_phy
+  ifeq (esp32,$(CPU_FAM))
+    FEATURES_REQUIRED += esp_ble_esp32
+    USEPKG += esp32_sdk_lib_bt_esp32
+  endif
+endif
+
 ifneq (,$(filter esp_eth,$(USEMODULE)))
   FEATURES_REQUIRED += esp_eth
   USEMODULE += esp_idf_eth
diff --git a/cpu/esp32/Makefile.features b/cpu/esp32/Makefile.features
index 098e647906..11459aa417 100644
--- a/cpu/esp32/Makefile.features
+++ b/cpu/esp32/Makefile.features
@@ -23,6 +23,12 @@ ifeq (xtensa,$(CPU_ARCH))
   FEATURES_PROVIDED += esp_hw_counter
 endif
 
+ifeq (esp32,$(CPU_FAM))
+  FEATURES_PROVIDED += ble_nimble
+  FEATURES_PROVIDED += esp_ble
+  FEATURES_PROVIDED += esp_ble_esp32
+endif
+
 ifneq (,$(filter esp32-wrover% esp32s2%r2 esp32s3%r2 esp32s3%r8 esp32s3%r8v,$(CPU_MODEL)))
   FEATURES_PROVIDED += esp_spi_ram
   ifneq (,$(filter esp32s3%r8 esp32s3%r8v,$(CPU_MODEL)))
diff --git a/cpu/esp32/Makefile.include b/cpu/esp32/Makefile.include
index 89830bce12..a318ff6196 100644
--- a/cpu/esp32/Makefile.include
+++ b/cpu/esp32/Makefile.include
@@ -36,6 +36,7 @@ else
   $(error Unkwnown ESP32x SoC architecture)
 endif
 
+PSEUDOMODULES += esp_ble
 PSEUDOMODULES += esp_bootloader
 PSEUDOMODULES += esp_gdbstub
 PSEUDOMODULES += esp_hw_counter
@@ -80,6 +81,14 @@ ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/xtensa/$(CPU_FAM)/include
 endif
 
+ifneq (,$(filter esp_ble,$(USEMODULE)))
+  INCLUDES += -I$(ESP32_SDK_DIR)/components/bt/include/$(CPU_FAM)/include
+endif
+
+ifneq (,$(filter esp_ble_nimble,$(USEMODULE)))
+  INCLUDES += $(NIMIBASE)/nimble/transport/common/hci_h4/include
+endif
+
 ifneq (,$(filter esp_spi_ram,$(USEMODULE)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/esp_hw_support/include/soc/$(CPU_FAM)
 endif
@@ -150,8 +159,14 @@ ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
 endif
 
 LINKFLAGS += -L$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/
-LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/memory.ld
+
+ifeq (,$(filter esp_ble,$(USEMODULE)))
+  LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/memory.ld
+else
+  LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/memory_bt.ld
+endif
 LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/sections.ld
+
 LINKFLAGS += -T$(ESP32_SDK_DIR)/components/soc/$(CPU_FAM)/ld/$(CPU_FAM).peripherals.ld
 LINKFLAGS += -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.api.ld
 LINKFLAGS += -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.ld
@@ -182,7 +197,7 @@ ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
   LINKFLAGS += -L$(ESP32_SDK_LIB_PHY_DIR)/$(CPU_FAM)
   ARCHIVES += -lcoexist -lcore -lmesh -lnet80211 -lpp
   ARCHIVES += -lphy -lstdc++
-  ifneq (,$(filter esp32,$(CPU_FAM)))
+  ifeq (esp32,$(CPU_FAM))
     ARCHIVES += -lrtc
   endif
 endif
@@ -192,6 +207,17 @@ ifneq (,$(filter esp_now,$(USEMODULE)))
   ARCHIVES += -lespnow -lmesh
 endif
 
+# Libraries needed when using esp_ble
+ifneq (,$(filter esp_ble,$(USEMODULE)))
+  LINKFLAGS += -L$(ESP32_SDK_LIB_PHY_DIR)/$(CPU_FAM)
+  LINKFLAGS += -L$(ESP32_SDK_LIB_BT_DIR)/$(CPU_FAM)
+  ARCHIVES += -lbtdm_app
+  ARCHIVES += -lphy -lstdc++
+  ifeq (esp32,$(CPU_FAM))
+    ARCHIVES += -lrtc
+  endif
+endif
+
 ifneq (,$(filter cpp,$(USEMODULE)))
   ARCHIVES += -lstdc++
 endif
diff --git a/cpu/esp32/include/sdkconfig.h b/cpu/esp32/include/sdkconfig.h
index 325c53226e..8f9b98160f 100644
--- a/cpu/esp32/include/sdkconfig.h
+++ b/cpu/esp32/include/sdkconfig.h
@@ -100,10 +100,16 @@
 #define CONFIG_PARTITION_TABLE_OFFSET           0x8000
 
 /**
- * Bluetooth configuration (DO NOT CHANGE)
+ * BLE driver configuration (DO NOT CHANGE)
  */
-#define CONFIG_BT_ENABLED                       0
-#define CONFIG_BT_RESERVE_DRAM                  0
+#ifdef MODULE_ESP_BLE
+#define CONFIG_ESP32_WIFI_ENABLED                       1   /* WiFi module has to be enabled */
+#define CONFIG_BT_ENABLED                               1
+#define CONFIG_BT_CONTROLLER_ONLY                       1
+#else
+#define CONFIG_BT_ENABLED                               0
+#define CONFIG_BTDM_RESERVE_DRAM                        0
+#endif
 
 /**
  * SPI RAM configuration (DO NOT CHANGE)
@@ -179,6 +185,9 @@
 #if defined(MODULE_ESP_WIFI_AP) || defined(MODULE_ESP_NOW)
 #define CONFIG_ESP_WIFI_SOFTAP_SUPPORT          1
 #endif
+#ifdef MODULE_ESP_BLE
+#define CONFIG_ESP32_WIFI_SW_COEXIST_ENABLE     1
+#endif
 #endif
 
 /**
diff --git a/cpu/esp32/include/sdkconfig_esp32.h b/cpu/esp32/include/sdkconfig_esp32.h
index 05fec6a33f..289cd916e6 100644
--- a/cpu/esp32/include/sdkconfig_esp32.h
+++ b/cpu/esp32/include/sdkconfig_esp32.h
@@ -162,6 +162,55 @@ extern "C" {
 #define CONFIG_ETH_DMA_TX_BUFFER_NUM            10
 #endif
 
+/**
+ * ESP32 specific BLE driver configuration (DO NOT CHANGE)
+ */
+#ifdef MODULE_ESP_BLE
+#define CONFIG_BTDM_BLE_ADV_REPORT_DISCARD_THRSHOLD     20
+#define CONFIG_BTDM_BLE_ADV_REPORT_FLOW_CTRL_SUPP       1
+#define CONFIG_BTDM_BLE_ADV_REPORT_FLOW_CTRL_NUM        100
+#define CONFIG_BTDM_BLE_DEFAULT_SCA_250PPM              1
+#define CONFIG_BTDM_BLE_SCAN_DUPL                       1
+#define CONFIG_BTDM_BLE_SLEEP_CLOCK_ACCURACY_INDEX_EFF  1
+#define CONFIG_BTDM_CTRL_BLE_MAX_CONN                   3
+#define CONFIG_BTDM_CTRL_BLE_MAX_CONN_EFF               3
+#define CONFIG_BTDM_CTRL_BR_EDR_MAX_ACL_CONN_EFF        0
+#define CONFIG_BTDM_CTRL_BR_EDR_MAX_SYNC_CONN_EFF       0
+#define CONFIG_BTDM_CTRL_BR_EDR_SCO_DATA_PATH_EFF       0
+#define CONFIG_BTDM_CTRL_FULL_SCAN_SUPPORTED            1
+#define CONFIG_BTDM_CTRL_HCI_MODE_VHCI                  1
+#define CONFIG_BTDM_CTRL_HLI                            0   /* ESP-IDF uses 1 by default */
+#define CONFIG_BTDM_CTRL_LPCLK_SEL_MAIN_XTAL            1
+#define CONFIG_BTDM_CTRL_MODE_BLE_ONLY                  1
+#define CONFIG_BTDM_CTRL_MODEM_SLEEP                    1
+#define CONFIG_BTDM_CTRL_MODEM_SLEEP_MODE_ORIG          1
+#define CONFIG_BTDM_CTRL_PCM_ROLE_EFF                   0
+#define CONFIG_BTDM_CTRL_PCM_POLAR_EFF                  0
+#define CONFIG_BTDM_CTRL_PINNED_TO_CORE_0               1
+#define CONFIG_BTDM_CTRL_PINNED_TO_CORE                 0
+#define CONFIG_BTDM_RESERVE_DRAM                        0xdb5c
+#define CONFIG_BTDM_SCAN_DUPL_CACHE_SIZE                200
+#define CONFIG_BTDM_SCAN_DUPL_TYPE_DEVICE               1
+#define CONFIG_BTDM_SCAN_DUPL_TYPE                      0
+
+#define CONFIG_BLE_ADV_REPORT_DISCARD_THRSHOLD CONFIG_  BTDM_BLE_ADV_REPORT_DISCARD_THRSHOLD
+#define CONFIG_BLE_ADV_REPORT_FLOW_CONTROL_NUM CONFIG_  BTDM_BLE_ADV_REPORT_FLOW_CTRL_NUM
+#define CONFIG_BLE_ADV_REPORT_FLOW_CONTROL_SUPPORTED    CONFIG_BTDM_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+#define CONFIG_BLE_SCAN_DUPLICATE                       CONFIG_BTDM_BLE_SCAN_DUPL
+#define CONFIG_BTDM_CONTROLLER_BLE_MAX_CONN             CONFIG_BTDM_CTRL_BLE_MAX_CONN
+#define CONFIG_BTDM_CONTROLLER_FULL_SCAN_SUPPORTED      CONFIG_BTDM_CTRL_FULL_SCAN_SUPPORTED
+#define CONFIG_BTDM_CONTROLLER_HCI_MODE_VHCI            CONFIG_BTDM_CTRL_HCI_MODE_VHCI
+#define CONFIG_BTDM_CONTROLLER_MODEM_SLEEP              CONFIG_BTDM_CTRL_MODEM_SLEEP
+#define CONFIG_BTDM_CONTROLLER_MODE_BLE_ONLY            CONFIG_BTDM_CTRL_MODE_BLE_ONLY
+#define CONFIG_DUPLICATE_SCAN_CACHE_SIZE                CONFIG_BTDM_SCAN_DUPL_CACHE_SIZE
+#define CONFIG_SCAN_DUPLICATE_BY_DEVICE_ADDR            CONFIG_BTDM_SCAN_DUPL_TYPE_DEVICE
+
+#else
+
+#define CONFIG_BTDM_RESERVE_DRAM                        0
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif