diff --git a/components/soc/esp32/gpio_periph.c b/components/soc/esp32/gpio_periph.c
index a413203741..d993cb42ac 100644
--- a/components/soc/esp32/gpio_periph.c
+++ b/components/soc/esp32/gpio_periph.c
@@ -35,7 +35,7 @@ const uint32_t GPIO_PIN_MUX_REG[SOC_GPIO_PIN_COUNT] = {
     IO_MUX_GPIO17_REG,
     IO_MUX_GPIO18_REG,
     IO_MUX_GPIO19_REG,
-    0,
+    IO_MUX_GPIO20_REG, // This corresponding pin is only available on ESP32-PICO-V3 chip package
     IO_MUX_GPIO21_REG,
     IO_MUX_GPIO22_REG,
     IO_MUX_GPIO23_REG,
diff --git a/components/soc/esp32/include/soc/soc_caps.h b/components/soc/esp32/include/soc/soc_caps.h
index ae88415cb4..03597fe989 100644
--- a/components/soc/esp32/include/soc/soc_caps.h
+++ b/components/soc/esp32/include/soc/soc_caps.h
@@ -116,8 +116,8 @@
 // set pullup/down/capability via RTC register. On ESP32-S2, Digital IOs have their own registers to
 // control pullup/down/capability, independent with RTC registers.
 
-// 0~39 except from 20, 24, 28~31 are valid
-#define SOC_GPIO_VALID_GPIO_MASK        (0xFFFFFFFFFFULL & ~(0ULL | BIT20 | BIT24 | BIT28 | BIT29 | BIT30 | BIT31))
+// 0~39 except from 24, 28~31 are valid
+#define SOC_GPIO_VALID_GPIO_MASK        (0xFFFFFFFFFFULL & ~(0ULL | BIT24 | BIT28 | BIT29 | BIT30 | BIT31))
 // GPIO >= 34 are input only
 #define SOC_GPIO_VALID_OUTPUT_GPIO_MASK (SOC_GPIO_VALID_GPIO_MASK & ~(0ULL | BIT34 | BIT35 | BIT36 | BIT37 | BIT38 | BIT39))
 
diff --git a/docs/en/api-reference/peripherals/gpio.rst b/docs/en/api-reference/peripherals/gpio.rst
index 9f92f8d5be..93a5e05523 100644
--- a/docs/en/api-reference/peripherals/gpio.rst
+++ b/docs/en/api-reference/peripherals/gpio.rst
@@ -118,6 +118,11 @@ Overview
          - 
          - 
          -
+
+       * - GPIO20
+         - 
+         -
+         - This pin is only available on ESP32-PICO-V3 chip package
        
        * - GPIO21
          -