diff --git a/components/driver/CMakeLists.txt b/components/driver/CMakeLists.txt
index 2d9e3c31ae..116e5b3c9c 100644
--- a/components/driver/CMakeLists.txt
+++ b/components/driver/CMakeLists.txt
@@ -47,15 +47,7 @@ endif()
 
 # I2C related source files
 if(CONFIG_SOC_I2C_SUPPORTED)
-    list(APPEND srcs "i2c/i2c.c"
-                     "i2c/i2c_master.c"
-                     "i2c/i2c_common.c"
-        )
-    if(CONFIG_SOC_I2C_SUPPORT_SLAVE)
-        list(APPEND srcs "i2c/i2c_slave.c")
-    endif()
-
-    list(APPEND ldfragments "i2c/linker.lf")
+    list(APPEND srcs "i2c/i2c.c")
 endif()
 
 # I2S related source files
@@ -142,7 +134,7 @@ else()
                            # have a public dependency on other "esp_driver_foo" components
                                     esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi esp_driver_mcpwm
                                     esp_driver_ana_cmpr esp_driver_i2s esp_driver_sdmmc esp_driver_sdspi esp_driver_sdio
-                                    esp_driver_dac esp_driver_rmt esp_driver_tsens esp_driver_sdm
+                                    esp_driver_dac esp_driver_rmt esp_driver_tsens esp_driver_sdm esp_driver_i2c
                            LDFRAGMENTS ${ldfragments}
                           )
 endif()
diff --git a/components/driver/Kconfig b/components/driver/Kconfig
index 343532ca1c..abb9f51283 100644
--- a/components/driver/Kconfig
+++ b/components/driver/Kconfig
@@ -105,24 +105,4 @@ menu "Driver Configurations"
 
     orsource "./ledc/Kconfig.ledc"
 
-    menu "I2C Configuration"
-        config I2C_ISR_IRAM_SAFE
-            bool "I2C ISR IRAM-Safe"
-            default n
-            help
-                Ensure the I2C interrupt is IRAM-Safe by allowing the interrupt handler to be
-                executable when the cache is disabled (e.g. SPI Flash write).
-                note: This cannot be used in the I2C legacy driver.
-
-        config I2C_ENABLE_DEBUG_LOG
-            bool "Enable I2C debug log"
-            default n
-            help
-                Wether to enable the debug log message for I2C driver.
-                Note that this option only controls the I2C driver log, will not affect other drivers.
-
-                note: This cannot be used in the I2C legacy driver.
-
-    endmenu # I2C Configurations
-
 endmenu  # Driver configurations
diff --git a/components/driver/test_apps/.build-test-rules.yml b/components/driver/test_apps/.build-test-rules.yml
index 4987875f1c..5cd7de2780 100644
--- a/components/driver/test_apps/.build-test-rules.yml
+++ b/components/driver/test_apps/.build-test-rules.yml
@@ -6,10 +6,6 @@ components/driver/test_apps/dac_test_apps/legacy_dac_driver:
   depends_components:
     - esp_adc
 
-components/driver/test_apps/i2c_test_apps:
-  disable:
-    - if: SOC_I2C_SUPPORTED != 1 # TODO: IDF-8070
-
 components/driver/test_apps/i2s_test_apps/legacy_i2s_adc_dac:
   disable:
     - if: SOC_I2S_SUPPORTS_ADC_DAC != 1
@@ -31,10 +27,12 @@ components/driver/test_apps/legacy_adc_driver:
     - if: SOC_ADC_SUPPORTED != 1
 
 components/driver/test_apps/legacy_i2c_driver:
-  disable:
+  disable_test:
     - if: IDF_TARGET == "esp32p4"
       temporary: true
-      reason: not supported yet  # TODO: IDF-8070
+      reason: lack of runner
+  depends_filepatterns:
+    - components/driver/i2c/**
 
 components/driver/test_apps/legacy_mcpwm_driver:
   disable:
diff --git a/components/driver/test_apps/legacy_i2c_driver/README.md b/components/driver/test_apps/legacy_i2c_driver/README.md
index a8b7833fa3..bf47d80ec6 100644
--- a/components/driver/test_apps/legacy_i2c_driver/README.md
+++ b/components/driver/test_apps/legacy_i2c_driver/README.md
@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
diff --git a/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c b/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c
index ea4b03da85..5668bea0b5 100644
--- a/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c
+++ b/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c
@@ -20,6 +20,7 @@
 #include "hal/gpio_hal.h"
 #include "hal/uart_ll.h"
 #include "hal/i2c_types.h"
+#include "soc/uart_periph.h"
 #include "test_utils.h"
 
 #define DATA_LENGTH          512  /*!<Data buffer length for test buffer*/
@@ -682,8 +683,8 @@ static void uart_aut_baud_det_init(int rxd_io_num)
 {
     gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[rxd_io_num], PIN_FUNC_GPIO);
     gpio_set_direction(rxd_io_num, GPIO_MODE_INPUT_OUTPUT);
-    esp_rom_gpio_connect_out_signal(rxd_io_num, I2CEXT0_SCL_OUT_IDX, 0, 0);
-    esp_rom_gpio_connect_in_signal(rxd_io_num, U1RXD_IN_IDX, 0);
+    esp_rom_gpio_connect_out_signal(rxd_io_num, i2c_periph_signal[0].scl_out_sig, 0, 0);
+    esp_rom_gpio_connect_in_signal(rxd_io_num, UART_PERIPH_SIGNAL(1, SOC_UART_RX_PIN_IDX), 0);
     periph_module_enable(PERIPH_UART1_MODULE);
     /* Reset all the bits */
     uart_ll_disable_intr_mask(&UART1, ~0);
diff --git a/components/esp_driver_i2c/CMakeLists.txt b/components/esp_driver_i2c/CMakeLists.txt
new file mode 100644
index 0000000000..db7bdc8858
--- /dev/null
+++ b/components/esp_driver_i2c/CMakeLists.txt
@@ -0,0 +1,20 @@
+set(srcs)
+set(include "include")
+
+# I2C related source files
+if(CONFIG_SOC_I2C_SUPPORTED)
+    list(APPEND srcs
+                     "i2c_master.c"
+                     "i2c_common.c"
+        )
+    if(CONFIG_SOC_I2C_SUPPORT_SLAVE)
+        list(APPEND srcs "i2c_slave.c")
+    endif()
+
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS ${include}
+                    PRIV_REQUIRES esp_driver_gpio esp_pm esp_ringbuf
+                    LDFRAGMENTS "linker.lf"
+                    )
diff --git a/components/esp_driver_i2c/Kconfig b/components/esp_driver_i2c/Kconfig
new file mode 100644
index 0000000000..db3b45814b
--- /dev/null
+++ b/components/esp_driver_i2c/Kconfig
@@ -0,0 +1,20 @@
+menu "ESP-Driver:I2C Configurations"
+    depends on SOC_I2C_SUPPORTED
+    config I2C_ISR_IRAM_SAFE
+        bool "I2C ISR IRAM-Safe"
+        default n
+        help
+            Ensure the I2C interrupt is IRAM-Safe by allowing the interrupt handler to be
+            executable when the cache is disabled (e.g. SPI Flash write).
+            note: This cannot be used in the I2C legacy driver.
+
+    config I2C_ENABLE_DEBUG_LOG
+        bool "Enable I2C debug log"
+        default n
+        help
+            Wether to enable the debug log message for I2C driver.
+            Note that this option only controls the I2C driver log, will not affect other drivers.
+
+            note: This cannot be used in the I2C legacy driver.
+
+endmenu # I2C Configurations
diff --git a/components/driver/i2c/i2c_common.c b/components/esp_driver_i2c/i2c_common.c
similarity index 99%
rename from components/driver/i2c/i2c_common.c
rename to components/esp_driver_i2c/i2c_common.c
index 831bef2bdc..9a7e7101d6 100644
--- a/components/driver/i2c/i2c_common.c
+++ b/components/esp_driver_i2c/i2c_common.c
@@ -218,7 +218,6 @@ esp_err_t i2c_select_periph_clock(i2c_bus_handle_t handle, i2c_clock_source_t cl
     }
 #endif // CONFIG_PM_ENABLE
 
-
     ESP_LOGD(TAG, "bus clock source frequency: %"PRIu32"hz", periph_src_clk_hz);
     return ret;
 }
@@ -243,7 +242,6 @@ esp_err_t i2c_common_set_pins(i2c_bus_handle_t handle)
     esp_rom_gpio_connect_out_signal(handle->sda_num, i2c_periph_signal[port_id].sda_out_sig, 0, 0);
     esp_rom_gpio_connect_in_signal(handle->sda_num, i2c_periph_signal[port_id].sda_in_sig, 0);
 
-
     // SCL pin configurations
     gpio_config_t scl_conf = {
         .intr_type = GPIO_INTR_DISABLE,
diff --git a/components/driver/i2c/i2c_master.c b/components/esp_driver_i2c/i2c_master.c
similarity index 99%
rename from components/driver/i2c/i2c_master.c
rename to components/esp_driver_i2c/i2c_master.c
index 0cba3b6211..91e44952d5 100644
--- a/components/driver/i2c/i2c_master.c
+++ b/components/esp_driver_i2c/i2c_master.c
@@ -444,7 +444,7 @@ static void s_i2c_send_command_async(i2c_master_bus_handle_t i2c_master, BaseTyp
         i2c_master->sent_all = true;
         return;
     }
-    while(i2c_ll_is_bus_busy(hal->dev)){}
+    while (i2c_ll_is_bus_busy(hal->dev)) {}
 
     while (i2c_master->i2c_trans.cmd_count && !needs_start) {
         i2c_master->in_progress = true;
@@ -514,13 +514,12 @@ static esp_err_t s_i2c_transaction_start(i2c_master_dev_handle_t i2c_dev, int xf
     return ret;
 }
 
-
 ///////////////////////////////I2C DRIVERS//////////////////////////////////////////////////////////////
 
 IRAM_ATTR static void i2c_isr_receive_handler(i2c_master_bus_t *i2c_master)
 {
     i2c_hal_context_t *hal = &i2c_master->base->hal;
-    while(i2c_ll_is_bus_busy(hal->dev)){}
+    while (i2c_ll_is_bus_busy(hal->dev)) {}
     if (i2c_master->status == I2C_STATUS_READ) {
         i2c_operation_t *i2c_operation = &i2c_master->i2c_trans.ops[i2c_master->trans_idx];
         portENTER_CRITICAL_ISR(&i2c_master->base->spinlock);
@@ -656,7 +655,7 @@ static esp_err_t i2c_master_bus_destroy(i2c_master_bus_handle_t bus_handle)
 {
     ESP_RETURN_ON_FALSE(bus_handle, ESP_ERR_INVALID_ARG, TAG, "no memory for i2c master bus");
     i2c_master_bus_handle_t i2c_master = bus_handle;
-    if(i2c_release_bus_handle(i2c_master->base) == ESP_OK) {
+    if (i2c_release_bus_handle(i2c_master->base) == ESP_OK) {
         if (i2c_master) {
             if (i2c_master->bus_lock_mux) {
                 vSemaphoreDeleteWithCaps(i2c_master->bus_lock_mux);
@@ -717,7 +716,7 @@ static esp_err_t s_i2c_asynchronous_transaction(i2c_master_dev_handle_t i2c_dev,
         i2c_dev->master_bus->queue_trans = false;
         ESP_RETURN_ON_ERROR(s_i2c_transaction_start(i2c_dev, timeout_ms), TAG, "I2C transaction failed");
     } else {
-        i2c_dev->master_bus->i2c_anyc_ops[i2c_dev->master_bus->index]=(i2c_operation_t(*))heap_caps_calloc(1, sizeof(i2c_operation_t) * 6, I2C_MEM_ALLOC_CAPS);
+        i2c_dev->master_bus->i2c_anyc_ops[i2c_dev->master_bus->index] = (i2c_operation_t(*))heap_caps_calloc(1, sizeof(i2c_operation_t) * 6, I2C_MEM_ALLOC_CAPS);
         memcpy(i2c_dev->master_bus->i2c_anyc_ops[i2c_dev->master_bus->index], i2c_ops, sizeof(i2c_operation_t) * ops_dim);
         i2c_transaction_t i2c_queue_pre;
         if (i2c_dev->master_bus->num_trans_inflight < i2c_dev->master_bus->queue_size) {
@@ -876,7 +875,7 @@ esp_err_t i2c_master_bus_add_device(i2c_master_bus_handle_t bus_handle, const i2
     ESP_RETURN_ON_FALSE((bus_handle != NULL), ESP_ERR_INVALID_ARG, TAG, "this bus is not initialized, please call `i2c_new_master_bus`");
     ESP_RETURN_ON_FALSE(dev_config, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
     ESP_RETURN_ON_FALSE(dev_config->scl_speed_hz > 0, ESP_ERR_INVALID_ARG, TAG, "invalid scl frequency");
-    if(bus_handle->base->bus_mode != I2C_BUS_MODE_MASTER) {
+    if (bus_handle->base->bus_mode != I2C_BUS_MODE_MASTER) {
         ESP_LOGE(TAG, "This is not master bus!");
         return ESP_ERR_INVALID_ARG;
     }
@@ -945,7 +944,6 @@ esp_err_t i2c_master_bus_reset(i2c_master_bus_handle_t bus_handle)
     return ESP_OK;
 }
 
-
 esp_err_t i2c_master_transmit(i2c_master_dev_handle_t i2c_dev, const uint8_t *write_buffer, size_t write_size, int xfer_timeout_ms)
 {
     ESP_RETURN_ON_FALSE(i2c_dev != NULL, ESP_ERR_INVALID_ARG, TAG, "i2c handle not initialized");
@@ -959,7 +957,7 @@ esp_err_t i2c_master_transmit(i2c_master_dev_handle_t i2c_dev, const uint8_t *wr
         };
         ESP_RETURN_ON_ERROR(s_i2c_synchronous_transaction(i2c_dev, i2c_ops, DIM(i2c_ops), xfer_timeout_ms), TAG, "I2C transaction failed");
     } else {
-        i2c_dev->master_bus->anyc_write_buffer[i2c_dev->master_bus->index] = (uint8_t*)heap_caps_calloc(1, sizeof(uint8_t)*write_size, I2C_MEM_ALLOC_CAPS);
+        i2c_dev->master_bus->anyc_write_buffer[i2c_dev->master_bus->index] = (uint8_t*)heap_caps_calloc(1, sizeof(uint8_t) * write_size, I2C_MEM_ALLOC_CAPS);
         memcpy(i2c_dev->master_bus->anyc_write_buffer[i2c_dev->master_bus->index], write_buffer, write_size);
         i2c_operation_t i2c_ops[] = {
             {.hw_cmd = I2C_TRANS_START_COMMAND},
@@ -988,7 +986,7 @@ esp_err_t i2c_master_transmit_receive(i2c_master_dev_handle_t i2c_dev, const uin
         };
         ESP_RETURN_ON_ERROR(s_i2c_synchronous_transaction(i2c_dev, i2c_ops, DIM(i2c_ops), xfer_timeout_ms), TAG, "I2C transaction failed");
     } else {
-        i2c_dev->master_bus->anyc_write_buffer[i2c_dev->master_bus->index] = (uint8_t*)heap_caps_calloc(1, sizeof(uint8_t)*write_size, I2C_MEM_ALLOC_CAPS);
+        i2c_dev->master_bus->anyc_write_buffer[i2c_dev->master_bus->index] = (uint8_t*)heap_caps_calloc(1, sizeof(uint8_t) * write_size, I2C_MEM_ALLOC_CAPS);
         memcpy(i2c_dev->master_bus->anyc_write_buffer[i2c_dev->master_bus->index], write_buffer, write_size);
 
         i2c_operation_t i2c_ops[] = {
diff --git a/components/driver/i2c/i2c_private.h b/components/esp_driver_i2c/i2c_private.h
similarity index 100%
rename from components/driver/i2c/i2c_private.h
rename to components/esp_driver_i2c/i2c_private.h
diff --git a/components/driver/i2c/i2c_slave.c b/components/esp_driver_i2c/i2c_slave.c
similarity index 100%
rename from components/driver/i2c/i2c_slave.c
rename to components/esp_driver_i2c/i2c_slave.c
diff --git a/components/driver/i2c/include/driver/i2c_master.h b/components/esp_driver_i2c/include/driver/i2c_master.h
similarity index 99%
rename from components/driver/i2c/include/driver/i2c_master.h
rename to components/esp_driver_i2c/include/driver/i2c_master.h
index fb78ef47b8..228f64fcc9 100644
--- a/components/driver/i2c/include/driver/i2c_master.h
+++ b/components/esp_driver_i2c/include/driver/i2c_master.h
@@ -27,7 +27,7 @@ typedef struct {
     int intr_priority;                    /*!< I2C interrupt priority, if set to 0, driver will select the default priority (1,2,3). */
     size_t trans_queue_depth;             /*!< Depth of internal transfer queue, increase this value can support more transfers pending in the background, only valid in asynchronous transaction. (Typically max_device_num * per_transaction)*/
     struct {
-        uint32_t enable_internal_pullup:1;   /*!< Enable internal pullups. Note: This is not strong enough to pullup buses under high-speed frequency. Recommend proper external pull-up if possible */
+        uint32_t enable_internal_pullup: 1;  /*!< Enable internal pullups. Note: This is not strong enough to pullup buses under high-speed frequency. Recommend proper external pull-up if possible */
     } flags;                              /*!< I2C master config flags */
 } i2c_master_bus_config_t;
 
diff --git a/components/driver/i2c/include/driver/i2c_slave.h b/components/esp_driver_i2c/include/driver/i2c_slave.h
similarity index 96%
rename from components/driver/i2c/include/driver/i2c_slave.h
rename to components/esp_driver_i2c/include/driver/i2c_slave.h
index e705aa3b02..897b9899ed 100644
--- a/components/driver/i2c/include/driver/i2c_slave.h
+++ b/components/esp_driver_i2c/include/driver/i2c_slave.h
@@ -29,16 +29,16 @@ typedef struct {
     int intr_priority;                       /*!< I2C interrupt priority, if set to 0, driver will select the default priority (1,2,3). */
     struct {
 #if SOC_I2C_SLAVE_CAN_GET_STRETCH_CAUSE
-        uint32_t stretch_en:1;               /*!< Enable slave stretch */
+        uint32_t stretch_en: 1;              /*!< Enable slave stretch */
 #endif
 #if SOC_I2C_SLAVE_SUPPORT_BROADCAST
-        uint32_t broadcast_en:1;             /*!< I2C slave enable broadcast */
+        uint32_t broadcast_en: 1;            /*!< I2C slave enable broadcast */
 #endif
 #if SOC_I2C_SLAVE_SUPPORT_I2CRAM_ACCESS
-        uint32_t access_ram_en:1;            /*!< Can get access to I2C RAM directly */
+        uint32_t access_ram_en: 1;           /*!< Can get access to I2C RAM directly */
 #endif
 #if SOC_I2C_SLAVE_SUPPORT_SLAVE_UNMATCH
-        uint32_t slave_unmatch_en:1;         /*!< Can trigger unmatch interrupt when slave address does not match what master sends*/
+        uint32_t slave_unmatch_en: 1;        /*!< Can trigger unmatch interrupt when slave address does not match what master sends*/
 #endif
     } flags;                                 /*!< I2C slave config flags */
 } i2c_slave_config_t;
diff --git a/components/driver/i2c/include/driver/i2c_types.h b/components/esp_driver_i2c/include/driver/i2c_types.h
similarity index 99%
rename from components/driver/i2c/include/driver/i2c_types.h
rename to components/esp_driver_i2c/include/driver/i2c_types.h
index 8e31bbfe59..903ad1c426 100644
--- a/components/driver/i2c/include/driver/i2c_types.h
+++ b/components/esp_driver_i2c/include/driver/i2c_types.h
@@ -34,7 +34,6 @@ typedef enum {
     I2C_STATUS_TIMEOUT,   /*!< I2C bus status error, and operation timeout */
 } i2c_master_status_t;
 
-
 typedef enum {
     I2C_EVENT_ALIVE,      /*!< i2c bus in alive status.*/
     I2C_EVENT_DONE,       /*!< i2c bus transaction done */
diff --git a/components/driver/i2c/linker.lf b/components/esp_driver_i2c/linker.lf
similarity index 62%
rename from components/driver/i2c/linker.lf
rename to components/esp_driver_i2c/linker.lf
index c16bd8c206..7a3bcd47e5 100644
--- a/components/driver/i2c/linker.lf
+++ b/components/esp_driver_i2c/linker.lf
@@ -1,8 +1,14 @@
 [mapping:i2c_driver]
-archive: libdriver.a
+archive: libesp_driver_i2c.a
 entries:
     if I2C_ISR_IRAM_SAFE = y:
         i2c_master: s_i2c_send_command_async (noflash)
         i2c_master: s_i2c_write_command (noflash)
         i2c_master: s_i2c_read_command (noflash)
         i2c_master: s_i2c_start_end_command (noflash)
+
+[mapping:i2c_hal]
+archive: libhal.a
+entries:
+    if I2C_ISR_IRAM_SAFE = y:
+        i2c_hal: i2c_hal_master_trans_start (noflash)
diff --git a/components/esp_driver_i2c/test_apps/.build-test-rules.yml b/components/esp_driver_i2c/test_apps/.build-test-rules.yml
new file mode 100644
index 0000000000..074e8796e9
--- /dev/null
+++ b/components/esp_driver_i2c/test_apps/.build-test-rules.yml
@@ -0,0 +1,11 @@
+# Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
+
+components/esp_driver_i2c/test_apps/i2c_test_apps:
+  disable:
+    - if: SOC_I2C_SUPPORTED != 1
+  disable_test:
+    - if: IDF_TARGET == "esp32p4"
+      temporary: true
+      reason: lack of runners
+  depends_components:
+    - esp_driver_i2c
diff --git a/components/driver/test_apps/i2c_test_apps/CMakeLists.txt b/components/esp_driver_i2c/test_apps/i2c_test_apps/CMakeLists.txt
similarity index 88%
rename from components/driver/test_apps/i2c_test_apps/CMakeLists.txt
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/CMakeLists.txt
index ff8c38b0c5..3ebe26f85d 100644
--- a/components/driver/test_apps/i2c_test_apps/CMakeLists.txt
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/CMakeLists.txt
@@ -14,7 +14,7 @@ project(i2c_test)
 if(CONFIG_COMPILER_DUMP_RTL_FILES)
     add_custom_target(check_test_app_sections ALL
                         COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
-                        --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/driver/,${CMAKE_BINARY_DIR}/esp-idf/hal/
+                        --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_i2c/,${CMAKE_BINARY_DIR}/esp-idf/hal/
                         --elf-file ${CMAKE_BINARY_DIR}/i2c_test.elf
                         find-refs
                         --from-sections=.iram0.text
diff --git a/components/driver/test_apps/i2c_test_apps/README.md b/components/esp_driver_i2c/test_apps/i2c_test_apps/README.md
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/README.md
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/README.md
diff --git a/components/driver/test_apps/i2c_test_apps/main/CMakeLists.txt b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/CMakeLists.txt
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/main/CMakeLists.txt
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/CMakeLists.txt
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_app_main.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_app_main.c
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/main/test_app_main.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_app_main.c
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_board.h b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_board.h
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/main/test_board.h
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_board.h
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_10bit.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_10bit.c
similarity index 99%
rename from components/driver/test_apps/i2c_test_apps/main/test_i2c_10bit.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_10bit.c
index 399a2671c9..ec76603e99 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_10bit.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_10bit.c
@@ -4,7 +4,6 @@
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
 
-
 #include <stdio.h>
 #include <string.h>
 #include "sdkconfig.h"
@@ -119,7 +118,6 @@ static void i2c_slave_read_test_10bit(void)
 
 TEST_CASE_MULTIPLE_DEVICES("I2C master write slave test 10 bit", "[i2c][test_env=generic_multi_device][timeout=150]", i2c_master_write_test_10bit, i2c_slave_read_test_10bit);
 
-
 static void master_read_slave_test_10bit(void)
 {
     uint8_t data_rd[DATA_LENGTH] = {0};
@@ -153,7 +151,7 @@ static void master_read_slave_test_10bit(void)
     vTaskDelay(100 / portTICK_PERIOD_MS);
     for (int i = 0; i < DATA_LENGTH; i++) {
         printf("%d\n", data_rd[i]);
-        TEST_ASSERT(data_rd[i]==i);
+        TEST_ASSERT(data_rd[i] == i);
     }
     unity_send_signal("ready to delete 10bit");
 
@@ -192,5 +190,4 @@ static void slave_write_buffer_test_10bit(void)
     TEST_ESP_OK(i2c_del_slave_device(slave_handle));
 }
 
-
 TEST_CASE_MULTIPLE_DEVICES("I2C master read slave test 10 bit", "[i2c][test_env=generic_multi_device][timeout=150]", master_read_slave_test_10bit, slave_write_buffer_test_10bit);
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_broadcast.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_broadcast.c
similarity index 99%
rename from components/driver/test_apps/i2c_test_apps/main/test_i2c_broadcast.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_broadcast.c
index e6cf562289..6a90afcf88 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_broadcast.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_broadcast.c
@@ -4,7 +4,6 @@
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
 
-
 #include <stdio.h>
 #include <string.h>
 #include "sdkconfig.h"
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
similarity index 97%
rename from components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
index ee307c32a3..cc238cc0a6 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
@@ -101,21 +101,21 @@ TEST_CASE("I2C device add & remove check", "[i2c]")
     TEST_ESP_OK(i2c_new_master_bus(&i2c_mst_config_1, &bus_handle));
 
     i2c_device_config_t dev_cfg_1 = {
-        .scl_speed_hz = 100*1000,
+        .scl_speed_hz = 100 * 1000,
         .device_address = 0x10,
     };
     i2c_master_dev_handle_t dev_1;
     i2c_master_bus_add_device(bus_handle, &dev_cfg_1, &dev_1);
 
     i2c_device_config_t dev_cfg_2 = {
-        .scl_speed_hz = 100*1000,
+        .scl_speed_hz = 100 * 1000,
         .device_address = 0x20,
     };
     i2c_master_dev_handle_t dev_2;
     i2c_master_bus_add_device(bus_handle, &dev_cfg_2, &dev_2);
 
     i2c_device_config_t dev_cfg_3 = {
-        .scl_speed_hz = 100*1000,
+        .scl_speed_hz = 100 * 1000,
         .device_address = 0x30,
     };
     i2c_master_dev_handle_t dev_3;
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_iram.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_iram.c
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/main/test_i2c_iram.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_iram.c
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_multi.c
similarity index 99%
rename from components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_multi.c
index eaf026f0c8..e15b5472d2 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_multi.c
@@ -4,7 +4,6 @@
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
 
-
 #include <stdio.h>
 #include <string.h>
 #include "sdkconfig.h"
@@ -32,7 +31,7 @@ void disp_buf(uint8_t *buf, int len)
     int i;
     for (i = 0; i < len; i++) {
         printf("%02x ", buf[i]);
-        if (( i + 1 ) % 16 == 0) {
+        if ((i + 1) % 16 == 0) {
             printf("\n");
         }
     }
@@ -132,7 +131,6 @@ static void i2c_slave_read_test(void)
 
 TEST_CASE_MULTIPLE_DEVICES("I2C master write slave test", "[i2c][test_env=generic_multi_device][timeout=150]", i2c_master_write_test, i2c_slave_read_test);
 
-
 static void master_read_slave_test(void)
 {
     uint8_t data_rd[DATA_LENGTH] = {0};
@@ -166,7 +164,7 @@ static void master_read_slave_test(void)
     vTaskDelay(100 / portTICK_PERIOD_MS);
     for (int i = 0; i < DATA_LENGTH; i++) {
         printf("%d\n", data_rd[i]);
-        TEST_ASSERT(data_rd[i]==i);
+        TEST_ASSERT(data_rd[i] == i);
     }
     unity_send_signal("ready to delete master read test");
 
@@ -205,7 +203,6 @@ static void slave_write_buffer_test(void)
     TEST_ESP_OK(i2c_del_slave_device(slave_handle));
 }
 
-
 TEST_CASE_MULTIPLE_DEVICES("I2C master read slave test", "[i2c][test_env=generic_multi_device][timeout=150]", master_read_slave_test, slave_write_buffer_test);
 
 static void i2c_master_write_read_test(void)
@@ -313,7 +310,6 @@ static void i2c_slave_read_write_test(void)
 
 TEST_CASE_MULTIPLE_DEVICES("I2C read and write test", "[i2c][test_env=generic_multi_device][timeout=150]", i2c_master_write_read_test, i2c_slave_read_write_test);
 
-
 static void i2c_master_repeat_write(void)
 {
     uint8_t data_wr[DATA_LENGTH] = {0};
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_ram.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_ram.c
similarity index 99%
rename from components/driver/test_apps/i2c_test_apps/main/test_i2c_ram.c
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_ram.c
index 165d3afb3b..084b60cffa 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_ram.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_ram.c
@@ -4,7 +4,6 @@
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
 
-
 #include <stdio.h>
 #include <string.h>
 #include "sdkconfig.h"
@@ -98,7 +97,6 @@ static void i2c_slave_read_from_ram_test(void)
     i2c_slave_dev_handle_t slave_handle;
     TEST_ESP_OK(i2c_new_slave_device(&i2c_slv_config, &slave_handle));
 
-
     unity_send_signal("i2c slave init finish");
 
     unity_wait_for_signal("master write");
@@ -115,7 +113,6 @@ static void i2c_slave_read_from_ram_test(void)
 
 TEST_CASE_MULTIPLE_DEVICES("I2C master write slave test - slave directly read from ram", "[i2c][test_env=generic_multi_device][timeout=150]", i2c_master_write_to_ram_test, i2c_slave_read_from_ram_test);
 
-
 static void master_read_slave_from_ram_test(void)
 {
     uint8_t data_rd[DATA_LENGTH_RAM] = {0};
@@ -151,7 +148,7 @@ static void master_read_slave_from_ram_test(void)
     vTaskDelay(100 / portTICK_PERIOD_MS);
     for (int i = 0; i < DATA_LENGTH_RAM; i++) {
         printf("%d\n", data_rd[i]);
-        TEST_ASSERT(data_rd[i]==i);
+        TEST_ASSERT(data_rd[i] == i);
     }
     unity_send_signal("ready to delete ram test");
 
@@ -191,7 +188,6 @@ static void slave_write_buffer_to_ram_test(void)
     TEST_ESP_OK(i2c_del_slave_device(slave_handle));
 }
 
-
 TEST_CASE_MULTIPLE_DEVICES("I2C master read slave ram test", "[i2c][test_env=generic_multi_device][timeout=150]", master_read_slave_from_ram_test, slave_write_buffer_to_ram_test);
 
 TEST_CASE("I2C slave init as ram but read by fifo", "[i2c]")
diff --git a/components/driver/test_apps/i2c_test_apps/pytest_i2c.py b/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/pytest_i2c.py
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
diff --git a/components/driver/test_apps/i2c_test_apps/sdkconfig.ci.defaults b/components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.ci.defaults
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/sdkconfig.ci.defaults
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.ci.defaults
diff --git a/components/driver/test_apps/i2c_test_apps/sdkconfig.ci.iram_safe b/components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.ci.iram_safe
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/sdkconfig.ci.iram_safe
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.ci.iram_safe
diff --git a/components/driver/test_apps/i2c_test_apps/sdkconfig.ci.release b/components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.ci.release
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/sdkconfig.ci.release
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.ci.release
diff --git a/components/driver/test_apps/i2c_test_apps/sdkconfig.defaults b/components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.defaults
similarity index 100%
rename from components/driver/test_apps/i2c_test_apps/sdkconfig.defaults
rename to components/esp_driver_i2c/test_apps/i2c_test_apps/sdkconfig.defaults
diff --git a/components/esp_lcd/CMakeLists.txt b/components/esp_lcd/CMakeLists.txt
index 6889de9131..d748393fab 100644
--- a/components/esp_lcd/CMakeLists.txt
+++ b/components/esp_lcd/CMakeLists.txt
@@ -28,5 +28,5 @@ endif()
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${includes}
                        PRIV_REQUIRES ${priv_requires}
-                       REQUIRES driver esp_driver_gpio esp_driver_spi
+                       REQUIRES driver esp_driver_gpio esp_driver_spi esp_driver_i2c
                        LDFRAGMENTS linker.lf)
diff --git a/components/esp_lcd/test_apps/.build-test-rules.yml b/components/esp_lcd/test_apps/.build-test-rules.yml
index 1f25b18686..75564d3e09 100644
--- a/components/esp_lcd/test_apps/.build-test-rules.yml
+++ b/components/esp_lcd/test_apps/.build-test-rules.yml
@@ -5,8 +5,7 @@ components/esp_lcd/test_apps/i2c_lcd:
     - if: SOC_I2C_SUPPORTED != 1
   depends_components:
     - esp_lcd
-  depends_filepatterns:
-    - components/driver/i2c/**/*
+    - esp_driver_i2c
   disable_test:
     - if: IDF_TARGET not in ["esp32c3"]
       temporary: true
diff --git a/components/hal/i2c_hal.c b/components/hal/i2c_hal.c
index 2b1248f622..92d64091c5 100644
--- a/components/hal/i2c_hal.c
+++ b/components/hal/i2c_hal.c
@@ -75,3 +75,9 @@ void i2c_hal_set_timing_config(i2c_hal_context_t *hal, i2c_hal_timing_config_t *
     i2c_ll_set_sda_timing(hal->dev, timing_config->sda_sample, timing_config->sda_hold);
     i2c_ll_set_tout(hal->dev, timing_config->timeout);
 }
+
+void i2c_hal_master_trans_start(i2c_hal_context_t *hal)
+{
+    i2c_ll_update(hal->dev);
+    i2c_ll_master_trans_start(hal->dev);
+}
diff --git a/components/hal/i2c_hal_iram.c b/components/hal/i2c_hal_iram.c
index f495de5595..f7128a64b5 100644
--- a/components/hal/i2c_hal_iram.c
+++ b/components/hal/i2c_hal_iram.c
@@ -1,17 +1,11 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "hal/i2c_hal.h"
 
-void i2c_hal_master_trans_start(i2c_hal_context_t *hal)
-{
-    i2c_ll_update(hal->dev);
-    i2c_ll_master_trans_start(hal->dev);
-}
-
 //////////////////////////////////////////Deprecated Functions//////////////////////////////////////////////////////////
 /////////////////////////////The following functions are only used by the legacy driver/////////////////////////////////
 /////////////////////////////They might be removed in the next major release (ESP-IDF 6.0)//////////////////////////////
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index cd2d070a15..92d8b8681b 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -48,7 +48,7 @@
 #define SOC_SDM_SUPPORTED               1
 #define SOC_GPSPI_SUPPORTED             1
 #define SOC_LEDC_SUPPORTED              1
-#define SOC_I2C_SUPPORTED               1  //TODO: IDF-6507, TODO: IDF-7491
+#define SOC_I2C_SUPPORTED               1
 #define SOC_SYSTIMER_SUPPORTED          1
 // #define SOC_AES_SUPPORTED               1  //TODO: IDF-6519
 #define SOC_MPI_SUPPORTED               1
diff --git a/docs/doxygen/Doxyfile b/docs/doxygen/Doxyfile
index dee2b659a2..2d1665f9ec 100644
--- a/docs/doxygen/Doxyfile
+++ b/docs/doxygen/Doxyfile
@@ -73,9 +73,6 @@ INPUT = \
     $(PROJECT_PATH)/components/bt/host/bluedroid/api/include/api/esp_spp_api.h \
     $(PROJECT_PATH)/components/bt/host/nimble/esp-hci/include/esp_nimble_hci.h \
     $(PROJECT_PATH)/components/console/esp_console.h \
-    $(PROJECT_PATH)/components/driver/i2c/include/driver/i2c_master.h \
-    $(PROJECT_PATH)/components/driver/i2c/include/driver/i2c_slave.h \
-    $(PROJECT_PATH)/components/driver/i2c/include/driver/i2c_types.h \
     $(PROJECT_PATH)/components/driver/ledc/include/driver/ledc.h \
     $(PROJECT_PATH)/components/driver/parlio/include/driver/parlio_tx.h \
     $(PROJECT_PATH)/components/driver/parlio/include/driver/parlio_types.h \
@@ -121,6 +118,9 @@ INPUT = \
     $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_sync.h \
     $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_timer.h \
     $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_types.h \
+    $(PROJECT_PATH)/components/esp_driver_i2c/include/driver/i2c_master.h \
+    $(PROJECT_PATH)/components/esp_driver_i2c/include/driver/i2c_slave.h \
+    $(PROJECT_PATH)/components/esp_driver_i2c/include/driver/i2c_types.h \
     $(PROJECT_PATH)/components/esp_driver_i2s/include/driver/i2s_common.h \
     $(PROJECT_PATH)/components/esp_driver_i2s/include/driver/i2s_pdm.h \
     $(PROJECT_PATH)/components/esp_driver_i2s/include/driver/i2s_std.h \
diff --git a/docs/en/api-reference/peripherals/i2c.rst b/docs/en/api-reference/peripherals/i2c.rst
index 127b7e0aed..8563c60c40 100644
--- a/docs/en/api-reference/peripherals/i2c.rst
+++ b/docs/en/api-reference/peripherals/i2c.rst
@@ -544,5 +544,5 @@ API Reference
 
     .. include-build-file:: inc/i2c_slave.inc
 
-.. include-build-file:: inc/components/driver/i2c/include/driver/i2c_types.inc
+.. include-build-file:: inc/components/esp_driver_i2c/include/driver/i2c_types.inc
 .. include-build-file:: inc/components/hal/include/hal/i2c_types.inc
\ No newline at end of file
diff --git a/docs/en/migration-guides/release-5.x/5.3/peripherals.rst b/docs/en/migration-guides/release-5.x/5.3/peripherals.rst
index 9c3275f0f1..ff7b10ec00 100644
--- a/docs/en/migration-guides/release-5.x/5.3/peripherals.rst
+++ b/docs/en/migration-guides/release-5.x/5.3/peripherals.rst
@@ -19,6 +19,7 @@ In order to control the dependence of other components on drivers at a smaller g
 - `esp_driver_rmt` - Driver for RMT
 - `esp_driver_tsens` - Driver for Temperature Sensor
 - `esp_driver_sdm` - Driver for Sigma-Delta Modulator
+- `esp_driver_i2c` - Driver for I2C
 
 For compatibility, the original `driver`` component is still treated as an all-in-one component by registering these `esp_driver_xyz`` components as its public dependencies. In other words, you do not need to modify the CMake file of an existing project, but you now have a way to specify the specific peripheral driver that your project depends on.
 
diff --git a/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst b/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst
index ee48673a6b..59a5447efa 100644
--- a/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst
+++ b/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst
@@ -19,6 +19,7 @@
 - `esp_driver_rmt` - RMT 驱动
 - `esp_driver_tsens` - 温度传感器驱动
 - `esp_driver_sdm` - Sigma-Delta 调制器驱动
+- `esp_driver_i2c` - I2C 驱动
 
 为了兼容性，原来的 `driver` 组件仍然存在，并作为一个 “all-in-one" 的组件，将以上这些 `esp_driver_xyz` 组件注册成自己的公共依赖。换句话说，你无需修改既有项目的 CMake 文件，但是你现在多了一个途径去指定你项目依赖的具体的外设驱动。
 
diff --git a/examples/peripherals/.build-test-rules.yml b/examples/peripherals/.build-test-rules.yml
index 66bc91773c..66351ff4a2 100644
--- a/examples/peripherals/.build-test-rules.yml
+++ b/examples/peripherals/.build-test-rules.yml
@@ -38,6 +38,12 @@ examples/peripherals/gpio/matrix_keyboard:
   enable:
     - if: IDF_TARGET == "esp32s2"
 
+examples/peripherals/i2c/i2c_eeprom:
+  disable:
+    - if: SOC_I2C_SUPPORTED != 1
+  depends_components:
+    - esp_driver_i2c
+
 examples/peripherals/i2c/i2c_self_test:
   disable:
     - if: SOC_I2C_SUPPORT_SLAVE != 1