diff --git a/boards/esp32-ethernet-kit-v1_0/Makefile.features b/boards/esp32-ethernet-kit-v1_0/Makefile.features
index dfe8c1633f..b71c3336e6 100644
--- a/boards/esp32-ethernet-kit-v1_0/Makefile.features
+++ b/boards/esp32-ethernet-kit-v1_0/Makefile.features
@@ -9,4 +9,5 @@ FEATURES_PROVIDED += periph_i2c
 FEATURES_PROVIDED += periph_pwm
 
 # unique features provided by the board
+FEATURES_PROVIDED += esp_jtag
 FEATURES_PROVIDED += esp_spi_ram
diff --git a/boards/esp32-wrover-kit/Makefile.features b/boards/esp32-wrover-kit/Makefile.features
index 0ff032ef03..a4e5f97d1c 100644
--- a/boards/esp32-wrover-kit/Makefile.features
+++ b/boards/esp32-wrover-kit/Makefile.features
@@ -11,6 +11,7 @@ FEATURES_PROVIDED += periph_spi
 
 # unique features provided by the board
 FEATURES_PROVIDED += sdcard_spi
+FEATURES_PROVIDED += esp_jtag
 FEATURES_PROVIDED += esp_spi_ram
 FEATURES_PROVIDED += esp_rtc_timer_32k
 
diff --git a/cpu/esp32/Makefile.include b/cpu/esp32/Makefile.include
index d6afcdf53a..3d14468e91 100644
--- a/cpu/esp32/Makefile.include
+++ b/cpu/esp32/Makefile.include
@@ -26,6 +26,7 @@ PSEUDOMODULES += esp_gdbstub
 PSEUDOMODULES += esp_hw_counter
 PSEUDOMODULES += esp_i2c_hw
 PSEUDOMODULES += esp_idf_newlib
+PSEUDOMODULES += esp_jtag
 PSEUDOMODULES += esp_rtc_timer_32k
 PSEUDOMODULES += esp_spi_ram
 PSEUDOMODULES += esp_wifi_enterprise
@@ -49,6 +50,10 @@ ifneq (,$(filter esp_eth,$(USEMODULE)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/ethernet/include
 endif
 
+ifneq (,$(filter esp_jtag,$(USEMODULE)))
+  FEATURES_REQUIRED += esp_jtag
+endif
+
 CFLAGS += -DSDK_NOT_USED -DCONFIG_FREERTOS_UNICORE=1 -DESP_PLATFORM
 CFLAGS += -DLOG_TAG_IN_BRACKETS