diff --git a/.gitlab/ci/dependencies/dependencies.yml b/.gitlab/ci/dependencies/dependencies.yml
index 70447ee94d..4539b5c2ef 100644
--- a/.gitlab/ci/dependencies/dependencies.yml
+++ b/.gitlab/ci/dependencies/dependencies.yml
@@ -6,6 +6,7 @@
   - esp32h4
   - esp32c2
   - esp32c6
+  - esp32h2
 
 .target_test: &target_test
   - example_test
diff --git a/.gitlab/ci/pre_check.yml b/.gitlab/ci/pre_check.yml
index cb811ea57a..55b2126141 100644
--- a/.gitlab/ci/pre_check.yml
+++ b/.gitlab/ci/pre_check.yml
@@ -93,6 +93,7 @@ check_public_headers:
     - IDF_TARGET=esp32c3 python tools/ci/check_public_headers.py --jobs 4 --prefix riscv32-esp-elf-
     - IDF_TARGET=esp32c2 python tools/ci/check_public_headers.py --jobs 4 --prefix riscv32-esp-elf-
     - IDF_TARGET=esp32c6 python tools/ci/check_public_headers.py --jobs 4 --prefix riscv32-esp-elf-
+    - IDF_TARGET=esp32h2 python tools/ci/check_public_headers.py --jobs 4 --prefix riscv32-esp-elf-
 
 check_chip_support_components:
   extends:
diff --git a/.gitlab/ci/rules.yml b/.gitlab/ci/rules.yml
index 2e46d30b02..8056783b16 100644
--- a/.gitlab/ci/rules.yml
+++ b/.gitlab/ci/rules.yml
@@ -394,6 +394,9 @@
 .if-label-component_ut_esp32c6: &if-label-component_ut_esp32c6
   if: '$BOT_LABEL_COMPONENT_UT_ESP32C6 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*component_ut_esp32c6(?:,[^,\n\r]+)*$/i'
 
+.if-label-component_ut_esp32h2: &if-label-component_ut_esp32h2
+  if: '$BOT_LABEL_COMPONENT_UT_ESP32H2 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*component_ut_esp32h2(?:,[^,\n\r]+)*$/i'
+
 .if-label-component_ut_esp32h4: &if-label-component_ut_esp32h4
   if: '$BOT_LABEL_COMPONENT_UT_ESP32H4 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*component_ut_esp32h4(?:,[^,\n\r]+)*$/i'
 
@@ -418,6 +421,9 @@
 .if-label-custom_test_esp32c6: &if-label-custom_test_esp32c6
   if: '$BOT_LABEL_CUSTOM_TEST_ESP32C6 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*custom_test_esp32c6(?:,[^,\n\r]+)*$/i'
 
+.if-label-custom_test_esp32h2: &if-label-custom_test_esp32h2
+  if: '$BOT_LABEL_CUSTOM_TEST_ESP32H2 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*custom_test_esp32h2(?:,[^,\n\r]+)*$/i'
+
 .if-label-custom_test_esp32h4: &if-label-custom_test_esp32h4
   if: '$BOT_LABEL_CUSTOM_TEST_ESP32H4 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*custom_test_esp32h4(?:,[^,\n\r]+)*$/i'
 
@@ -445,6 +451,9 @@
 .if-label-example_test_esp32c6: &if-label-example_test_esp32c6
   if: '$BOT_LABEL_EXAMPLE_TEST_ESP32C6 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*example_test_esp32c6(?:,[^,\n\r]+)*$/i'
 
+.if-label-example_test_esp32h2: &if-label-example_test_esp32h2
+  if: '$BOT_LABEL_EXAMPLE_TEST_ESP32H2 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*example_test_esp32h2(?:,[^,\n\r]+)*$/i'
+
 .if-label-example_test_esp32h4: &if-label-example_test_esp32h4
   if: '$BOT_LABEL_EXAMPLE_TEST_ESP32H4 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*example_test_esp32h4(?:,[^,\n\r]+)*$/i'
 
@@ -505,6 +514,9 @@
 .if-label-unit_test_esp32c6: &if-label-unit_test_esp32c6
   if: '$BOT_LABEL_UNIT_TEST_ESP32C6 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*unit_test_esp32c6(?:,[^,\n\r]+)*$/i'
 
+.if-label-unit_test_esp32h2: &if-label-unit_test_esp32h2
+  if: '$BOT_LABEL_UNIT_TEST_ESP32H2 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*unit_test_esp32h2(?:,[^,\n\r]+)*$/i'
+
 .if-label-unit_test_esp32h4: &if-label-unit_test_esp32h4
   if: '$BOT_LABEL_UNIT_TEST_ESP32H4 || $CI_MERGE_REQUEST_LABELS =~ /^(?:[^,\n\r]+,)*unit_test_esp32h4(?:,[^,\n\r]+)*$/i'
 
@@ -544,6 +556,7 @@
     - <<: *if-label-component_ut_esp32c2
     - <<: *if-label-component_ut_esp32c3
     - <<: *if-label-component_ut_esp32c6
+    - <<: *if-label-component_ut_esp32h2
     - <<: *if-label-component_ut_esp32h4
     - <<: *if-label-component_ut_esp32s2
     - <<: *if-label-component_ut_esp32s3
@@ -554,6 +567,7 @@
     - <<: *if-label-unit_test_esp32c2
     - <<: *if-label-unit_test_esp32c3
     - <<: *if-label-unit_test_esp32c6
+    - <<: *if-label-unit_test_esp32h2
     - <<: *if-label-unit_test_esp32h4
     - <<: *if-label-unit_test_esp32s2
     - <<: *if-label-unit_test_esp32s3
@@ -782,6 +796,7 @@
     - <<: *if-label-custom_test_esp32c2
     - <<: *if-label-custom_test_esp32c3
     - <<: *if-label-custom_test_esp32c6
+    - <<: *if-label-custom_test_esp32h2
     - <<: *if-label-custom_test_esp32h4
     - <<: *if-label-custom_test_esp32s2
     - <<: *if-label-custom_test_esp32s3
@@ -999,6 +1014,7 @@
     - <<: *if-label-example_test_esp32c2
     - <<: *if-label-example_test_esp32c3
     - <<: *if-label-example_test_esp32c6
+    - <<: *if-label-example_test_esp32h2
     - <<: *if-label-example_test_esp32h4
     - <<: *if-label-example_test_esp32s2
     - <<: *if-label-example_test_esp32s3
@@ -1332,6 +1348,7 @@
     - <<: *if-label-component_ut_esp32c2
     - <<: *if-label-component_ut_esp32c3
     - <<: *if-label-component_ut_esp32c6
+    - <<: *if-label-component_ut_esp32h2
     - <<: *if-label-component_ut_esp32h4
     - <<: *if-label-component_ut_esp32s2
     - <<: *if-label-component_ut_esp32s3
@@ -1340,6 +1357,7 @@
     - <<: *if-label-custom_test_esp32c2
     - <<: *if-label-custom_test_esp32c3
     - <<: *if-label-custom_test_esp32c6
+    - <<: *if-label-custom_test_esp32h2
     - <<: *if-label-custom_test_esp32h4
     - <<: *if-label-custom_test_esp32s2
     - <<: *if-label-custom_test_esp32s3
@@ -1348,6 +1366,7 @@
     - <<: *if-label-example_test_esp32c2
     - <<: *if-label-example_test_esp32c3
     - <<: *if-label-example_test_esp32c6
+    - <<: *if-label-example_test_esp32h2
     - <<: *if-label-example_test_esp32h4
     - <<: *if-label-example_test_esp32s2
     - <<: *if-label-example_test_esp32s3
@@ -1362,6 +1381,7 @@
     - <<: *if-label-unit_test_esp32c2
     - <<: *if-label-unit_test_esp32c3
     - <<: *if-label-unit_test_esp32c6
+    - <<: *if-label-unit_test_esp32h2
     - <<: *if-label-unit_test_esp32h4
     - <<: *if-label-unit_test_esp32s2
     - <<: *if-label-unit_test_esp32s3
@@ -1420,6 +1440,7 @@
     - <<: *if-label-unit_test_esp32c2
     - <<: *if-label-unit_test_esp32c3
     - <<: *if-label-unit_test_esp32c6
+    - <<: *if-label-unit_test_esp32h2
     - <<: *if-label-unit_test_esp32h4
     - <<: *if-label-unit_test_esp32s2
     - <<: *if-label-unit_test_esp32s3
diff --git a/examples/build_system/cmake/idf_as_lib/CMakeLists.txt b/examples/build_system/cmake/idf_as_lib/CMakeLists.txt
index 6914c4aee5..6409d4a6bc 100644
--- a/examples/build_system/cmake/idf_as_lib/CMakeLists.txt
+++ b/examples/build_system/cmake/idf_as_lib/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 
 project(idf_as_lib C)
 
-set(targets "esp32" "esp32s2" "esp32s3" "esp32c3" "esp32h4" "esp32c2" "esp32c6")
+set(targets "esp32" "esp32s2" "esp32s3" "esp32c3" "esp32h4" "esp32c2" "esp32c6" "esp32h2")
 
 if("${TARGET}" IN_LIST targets)
     # Include for ESP-IDF build system functions
diff --git a/examples/build_system/cmake/idf_as_lib/build-esp32h2.sh b/examples/build_system/cmake/idf_as_lib/build-esp32h2.sh
new file mode 120000
index 0000000000..c07a74de4f
--- /dev/null
+++ b/examples/build_system/cmake/idf_as_lib/build-esp32h2.sh
@@ -0,0 +1 @@
+build.sh
\ No newline at end of file
diff --git a/examples/build_system/cmake/idf_as_lib/run-esp32h2.sh b/examples/build_system/cmake/idf_as_lib/run-esp32h2.sh
new file mode 120000
index 0000000000..cde8585ed4
--- /dev/null
+++ b/examples/build_system/cmake/idf_as_lib/run-esp32h2.sh
@@ -0,0 +1 @@
+run-esp32.sh
\ No newline at end of file
diff --git a/tools/ci/build_template_app.sh b/tools/ci/build_template_app.sh
index 7cb7bfeaa5..f214b87986 100755
--- a/tools/ci/build_template_app.sh
+++ b/tools/ci/build_template_app.sh
@@ -62,7 +62,7 @@ build_stage2() {
         --build-log ${BUILD_LOG_CMAKE} \
         --size-file size.json \
         --collect-size-info size_info.txt \
-        --default-build-targets esp32,esp32s2,esp32s3,esp32c2,esp32c3,esp32c6 # add esp32h4 back after IDF-5541
+        --default-build-targets esp32,esp32s2,esp32s3,esp32c2,esp32c3,esp32c6,esp32h2 # add esp32h4 back after IDF-5541
 }
 
 build_stage1() {
@@ -76,7 +76,7 @@ build_stage1() {
         --build-log ${BUILD_LOG_CMAKE} \
         --size-file size.json \
         --collect-size-info size_info.txt \
-        --default-build-targets esp32,esp32s2,esp32s3,esp32c2,esp32c3,esp32h4,esp32c6
+        --default-build-targets esp32,esp32s2,esp32s3,esp32c2,esp32c3,esp32h4,esp32c6,esp32h2
 }
 
 # Default arguments
diff --git a/tools/ci/check_build_test_rules.py b/tools/ci/check_build_test_rules.py
index ae83b3f64c..940c7f31a5 100755
--- a/tools/ci/check_build_test_rules.py
+++ b/tools/ci/check_build_test_rules.py
@@ -32,6 +32,7 @@ USUAL_TO_FORMAL = {
     'esp32h4': 'ESP32-H4',
     'esp32c2': 'ESP32-C2',
     'esp32c6': 'ESP32-C6',
+    'esp32h2': 'ESP32-H2',
     'linux': 'Linux',
 }
 
@@ -43,6 +44,7 @@ FORMAL_TO_USUAL = {
     'ESP32-H4': 'esp32h4',
     'ESP32-C2': 'esp32c2',
     'ESP32-C6': 'esp32c6',
+    'ESP32-H2': 'esp32h2',
     'Linux': 'linux',
 }
 
diff --git a/tools/ci/test_build_system_cmake.sh b/tools/ci/test_build_system_cmake.sh
index 828002e162..cbc800c3cc 100755
--- a/tools/ci/test_build_system_cmake.sh
+++ b/tools/ci/test_build_system_cmake.sh
@@ -513,7 +513,7 @@ function run_tests()
     print_status "Test build ESP-IDF as a library to a custom CMake projects for all targets"
     IDF_AS_LIB=$IDF_PATH/examples/build_system/cmake/idf_as_lib
     # note: we just need to run cmake
-    for TARGET in "esp32" "esp32s2" "esp32s3" "esp32c3" "esp32h4" "esp32c2" "esp32c6"
+    for TARGET in "esp32" "esp32s2" "esp32s3" "esp32c3" "esp32h4" "esp32c2" "esp32c6" "esp32h2"
     do
       echo "Build idf_as_lib for $TARGET target"
       rm -rf build
diff --git a/tools/idf_size_yaml/esp32h2_data_info.yaml b/tools/idf_size_yaml/esp32h2_data_info.yaml
new file mode 100644
index 0000000000..b0470de7dd
--- /dev/null
+++ b/tools/idf_size_yaml/esp32h2_data_info.yaml
@@ -0,0 +1,17 @@
+# Data_type:
+#   primary_address: value
+#   length: value or equation
+#   secondary_address: value if exist
+DRAM:
+  primary_address: 0x40800000
+  length: 0x50000
+  secondary_address: 0x40800000
+CACHE_I:
+  primary_address: 0x42000000
+  length: 0x800000
+CACHE_D:
+  primary_address: 0x42000000
+  length: 0x800000
+RTC_SLOW_D: # TODO: IDF-5667 Better to rename to LP_RAM
+  primary_address: 0x50000000
+  length: 0x4000
diff --git a/tools/test_apps/.build-test-rules.yml b/tools/test_apps/.build-test-rules.yml
index 13860eb1d9..be1ddf8ed1 100644
--- a/tools/test_apps/.build-test-rules.yml
+++ b/tools/test_apps/.build-test-rules.yml
@@ -115,7 +115,7 @@ tools/test_apps/system/flash_psram:
 
 tools/test_apps/system/g0_components:
   enable:
-    - if: INCLUDE_DEFAULT == 1 or IDF_TARGET in ["esp32h4", "esp32c6"] # preview targets
+    - if: INCLUDE_DEFAULT == 1 or IDF_TARGET in ["esp32h4", "esp32c6", "esp32h2"] # preview targets
 
 tools/test_apps/system/g1_components:
 
diff --git a/tools/test_apps/system/build_test/sdkconfig.ci.esp32h2_with_rom_impl_components b/tools/test_apps/system/build_test/sdkconfig.ci.esp32h2_with_rom_impl_components
new file mode 100644
index 0000000000..7456ed4f65
--- /dev/null
+++ b/tools/test_apps/system/build_test/sdkconfig.ci.esp32h2_with_rom_impl_components
@@ -0,0 +1,5 @@
+CONFIG_IDF_TARGET="esp32h2"
+CONFIG_HAL_WDT_USE_ROM_IMPL=y
+CONFIG_HAL_SYSTIMER_USE_ROM_IMPL=y
+CONFIG_HEAP_TLSF_USE_ROM_IMPL=y
+CONFIG_SPI_FLASH_ROM_IMPL=y
diff --git a/tools/test_apps/system/build_test/sdkconfig.ci.esp32h2_without_rom_impl_components b/tools/test_apps/system/build_test/sdkconfig.ci.esp32h2_without_rom_impl_components
new file mode 100644
index 0000000000..843ca0e1a1
--- /dev/null
+++ b/tools/test_apps/system/build_test/sdkconfig.ci.esp32h2_without_rom_impl_components
@@ -0,0 +1,5 @@
+CONFIG_IDF_TARGET="esp32h2"
+CONFIG_HAL_WDT_USE_ROM_IMPL=n
+CONFIG_HAL_SYSTIMER_USE_ROM_IMPL=n
+CONFIG_HEAP_TLSF_USE_ROM_IMPL=n
+CONFIG_SPI_FLASH_ROM_IMPL=n
diff --git a/tools/test_apps/system/g0_components/CMakeLists.txt b/tools/test_apps/system/g0_components/CMakeLists.txt
index d6433b7fce..eb04cf6a4d 100644
--- a/tools/test_apps/system/g0_components/CMakeLists.txt
+++ b/tools/test_apps/system/g0_components/CMakeLists.txt
@@ -28,7 +28,7 @@ project(g0_components)
 
 # As a workaround for ESP32-C2, we need to define the MMU page size here, until MMU hal-driver
 # is refactored
-if(CONFIG_IDF_TARGET_ESP32C2 OR CONFIG_IDF_TARGET_ESP32C6)
+if(CONFIG_IDF_TARGET_ESP32C2 OR CONFIG_IDF_TARGET_ESP32C6 OR CONFIG_IDF_TARGET_ESP32H2)
     idf_build_set_property(C_COMPILE_OPTIONS "-DCONFIG_MMU_PAGE_SIZE=64" APPEND)
 endif()
 
diff --git a/tools/test_apps/system/g0_components/README.md b/tools/test_apps/system/g0_components/README.md
index 6060d89b20..52129284e5 100644
--- a/tools/test_apps/system/g0_components/README.md
+++ b/tools/test_apps/system/g0_components/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-H4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
 
 # "G0"-components-only app
 
diff --git a/tools/tools.json b/tools/tools.json
index 784cbe17eb..4b1c085d08 100644
--- a/tools/tools.json
+++ b/tools/tools.json
@@ -390,7 +390,8 @@
         "esp32c3",
         "esp32h4",
         "esp32c2",
-        "esp32c6"
+        "esp32c6",
+        "esp32h2"
       ],
       "version_cmd": [
         "clang",
@@ -454,7 +455,8 @@
         "esp32c3",
         "esp32h4",
         "esp32c2",
-        "esp32c6"
+        "esp32c6",
+        "esp32h2"
       ],
       "version_cmd": [
         "riscv32-esp-elf-gcc",