diff --git a/cpu/esp32/include/periph_cpu_esp32.h b/cpu/esp32/include/periph_cpu_esp32.h
index 98fe0a3a91..e31b629836 100644
--- a/cpu/esp32/include/periph_cpu_esp32.h
+++ b/cpu/esp32/include/periph_cpu_esp32.h
@@ -28,6 +28,11 @@ extern "C" {
 /** Mapping configured ESP32 default clock to CLOCK_CORECLOCK define */
 #define CLOCK_CORECLOCK     (1000000UL * CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ)
 
+/**
+ * @brief   CPU cycles per busy wait loop
+ */
+#define CPU_CYCLES_PER_LOOP (6)
+
 /**
  * @name   Predefined GPIO names
  * @{
diff --git a/cpu/esp32/include/periph_cpu_esp32c3.h b/cpu/esp32/include/periph_cpu_esp32c3.h
index e2b243280a..874ca9ce6d 100644
--- a/cpu/esp32/include/periph_cpu_esp32c3.h
+++ b/cpu/esp32/include/periph_cpu_esp32c3.h
@@ -28,6 +28,11 @@ extern "C" {
 /** Mapping configured ESP32-C3 default clock to CLOCK_CORECLOCK define */
 #define CLOCK_CORECLOCK     (1000000UL * CONFIG_ESP32C3_DEFAULT_CPU_FREQ_MHZ)
 
+/**
+ * @brief   CPU cycles per busy wait loop
+ */
+#define CPU_CYCLES_PER_LOOP (4)
+
 /**
  * @name   Predefined GPIO names
  * @{
diff --git a/cpu/esp32/include/periph_cpu_esp32s2.h b/cpu/esp32/include/periph_cpu_esp32s2.h
index 941940bfcf..1e1cdddda2 100644
--- a/cpu/esp32/include/periph_cpu_esp32s2.h
+++ b/cpu/esp32/include/periph_cpu_esp32s2.h
@@ -28,6 +28,11 @@ extern "C" {
 /** Mapping configured ESP32-S2 default clock to CLOCK_CORECLOCK define */
 #define CLOCK_CORECLOCK     (1000000UL * CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ)
 
+/**
+ * @brief   CPU cycles per busy wait loop
+ */
+#define CPU_CYCLES_PER_LOOP (6)
+
 /**
  * @name   Predefined GPIO names
  * @{
diff --git a/cpu/esp32/include/periph_cpu_esp32s3.h b/cpu/esp32/include/periph_cpu_esp32s3.h
index 85ab49965c..c9aaccb8a9 100644
--- a/cpu/esp32/include/periph_cpu_esp32s3.h
+++ b/cpu/esp32/include/periph_cpu_esp32s3.h
@@ -19,13 +19,18 @@
 #ifndef PERIPH_CPU_ESP32S3_H
 #define PERIPH_CPU_ESP32S3_H
 
-/** Mapping configured ESP32-S3 default clock to CLOCK_CORECLOCK define */
-#define CLOCK_CORECLOCK     (1000000UL * CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ)
-
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/** Mapping configured ESP32-S3 default clock to CLOCK_CORECLOCK define */
+#define CLOCK_CORECLOCK     (1000000UL * CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ)
+
+/**
+ * @brief   CPU cycles per busy wait loop
+ */
+#define CPU_CYCLES_PER_LOOP (5)
+
 /**
  * @name   Predefined GPIO names
  * @{