diff --git a/cpu/esp_common/Makefile.include b/cpu/esp_common/Makefile.include
index 5e95922473..c360797009 100644
--- a/cpu/esp_common/Makefile.include
+++ b/cpu/esp_common/Makefile.include
@@ -7,10 +7,17 @@ FLASH_MODE ?= dout
 # SPECIAL module dependencies
 # cannot be done in Makefile.dep since Makefile.dep is included too late
 
-# use esp_now as default netdev if no other netdev module is enabled
 ifneq (,$(filter netdev_default gnrc_netdev_default,$(USEMODULE)))
-  ifeq (,$(filter esp_wifi esp_eth,$(USEMODULE)))
-    USEMODULE += esp_now
+  ifneq (,$(filter lwip,$(USEMODULE)))
+    # for lwip, use esp_wifi as default netdev if no other netdev is enabled
+    ifeq (,$(filter esp_eth,$(USEMODULE)))
+      USEMODULE += esp_wifi
+    endif
+  else
+    # otherwise use esp_now as default netdev if no other netdev is enabled
+    ifeq (,$(filter esp_wifi esp_eth,$(USEMODULE)))
+      USEMODULE += esp_now
+    endif
   endif
 endif